Pointcloud artifacts

marlu

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?

jakaskerl

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

saiborg

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.