introlab
Noise appears when scanning the environment.
Hello, when I scan the environment, some noise appears even though there are no obstacles in front (as shown in the right image). I have already covered reflective bulletin boards with posters, so I would like to ask for any suggestions on how to avoid noise.
This image below is a screenshot taken during the scan.
I am using the D435i camera connected to an NVIDIA AGX Xavier, mounted on a TurtleBot3, and the following are the commands used for scanning:
roslaunch realsense2_camera rs_camera.launch align_depth:=true unite_imu_method:="linear_interpolation" enable_gyro:=true enable_accel:=true depth_fps:=15 color_fps:=15 infra_fps:=15 depth_width:=640 depth_height:=480 color_width:=640 color_height:=480
rosrun imu_filter_madgwick imu_filter_node \ _use_mag:=false \ _publish_tf:=false \ _world_frame:="enu" \ /imu/data_raw:=/camera/imu \ /imu/data:=/rtabmap/imu
roslaunch rtabmap_launch rtabmap.launch \ rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --RGBD/ProximityBySpace true" \ depth_topic:=/camera/aligned_depth_to_color/image_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info \ approx_sync:=false \ wait_imu_to_init:=true \ imu_topic:=/rtabmap/imu \ scan_topic:=/scan \ rviz:=false \ rtabmap_viz:=true
It looks like bad disparity computed by realsense2. You may try different presets to see if it can be fixed. https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets. I'll suggest to look at the disparity image or depth image directly to see the noise and to see if any preset helps to reduce it.
Note that kind of noise may be filtered in the occupancy grid while the robot is moving. However, the raw point cloud will keep that noise.
