Avoiding noise in point cloud

[Dalalos]

rtabmap_gal.launch

Hi there,

I'm having a lot of noise in my point cloud when mapping with realsense r200 in the non solid areas.
I tried to set a min and max depth distances but I don't think it's affecting the point cloud, there are still some false positive points in the near and far areas.
I'm attaching my Rtabmap launch file with my mapping parameters.

General question, how can I furtrer improve my mapping using parameters?

Thanks, Gal.

[matlabbe]

Hi,

The point cloud generated in rtabmapviz's 3D Map view is done using parameters in Preferences->3D Rendering. There you can set min and max depth. You can also set Noise Filtering Radius to filter spurious points (it uses PCL RadiusOutlierRemoval under the hood).

cheers,
Mathieu

[utrecht]

Also keep in mind that the architecture of the R200 is not that great. I personally wouldn't recommend depending on it for odometry tbh, but with the right odometry provided to rtabmap you can get great maps.