Re: How to avoid detecting obstacles passing in front of a running robot?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-avoid-detecting-obstacles-passing-in-front-of-a-running-robot-tp10040p10069.html

With a RGBD camera with limited range in an empty space, it can indeed be difficult to clear the upper part. Indoor, the camera could see the ceiling, which can be used to clear those obstacles. Stereo cameras can see miles/kilometers away, they could probably clear it unless it is a clear blue sky without any clouds. Textureless walls can be an issue for stereo cameras though, if they don't have active IR pattern.

Other option is to set a maximum obstacle height (Grid/MaxObstacleHeight) to avoid adding obstacles over optical height that are more difficult to clear.