Hi,
I try my best to use OAK-D Pro in conjunction with RTABmap to create a map of interior space for further robot localization. I have spent times tuning camera parameters, although I still cannot get rid of random point cloud artifacts (as seen in the picture close to the camera), that spoil the cloud map. I have tried various filters combination, as well as extended disparity and subpixel mode. Is there any other advice on this issue?
![](https://discuss.luxonis.com/assets/files/2023-07-12/1689143616-422892-pointcloud-artifacts.png)