Clarification regarding "S.RGB" vs "Pano." settings and D435i hardware implementation

[kaiwu1215]

Hi authors,

Thanks for your impressive work! I am currently studying your paper and have a question regarding the experimental setup and the notation in Table 2.

1. Confusion about "S.RGB" vs "Pano.": In Table 2, you distinguish between "S.RGB" and "Pano.". My initial understanding was that "S.RGB" stands for Single-view RGB (limited Field of View). However, I noticed a potential inconsistency regarding the hardware description:

Section 5.2 states: "The robot is equipped with... an RGB-D camera for panoramic visual sensing..."

Figure 5 identifies the camera as an Intel RealSense D435i.

2. Hardware Limitation: As far as I know, the Intel RealSense D435i is a directional depth camera with a limited FOV (approx. 87°×58° for depth, 69°×42° for RGB) and is not a native panoramic camera.

My Questions:

Could you please clarify the exact meaning of "S.RGB" in Table 2? Does it refer to a limited FOV setting (single shot)?

Regarding the "panoramic visual sensing" mentioned in Section 5.2: Since the D435i is used, is this achieved by mechanically rotating the camera (e.g., using a servo/gimbal) to stitch images, or does "Pano." refer to a specific simulation setting rather than the physical robot?

Any insights into these hardware implementation details would be greatly appreciated.

Thank you!