• ROS

  • Pointcloud artifacts

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?

    5 days later

    Hi Marlu,

    I've been having the same issues. Do you have a color image you can share of what you're trying to capture depth of? Sometimes it has to do with the colors/patterns in your foreground and background.

    Do let me know if you come across a solution for this noise.

    Hi marlu
    As @saiborg said, perhaps the background is too homogeneous for the device to perform disparity calculation on. Have you tried using the dot projector?

    Thanks,
    Jaka