Noisy floor with ARKit

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-floor-with-ARKit-tp10530.html

Hi,

I have been scanning quite a lot through the app, and one issue seems to be consistantly there: the floor is very noisy, way more than the walls and the ceiling. This can be seen (hopefully well enough) in the following picture



It's almost like the floor did not exist in the eyes of the sensor. Although some of the areas I'm scanning are wet, this issue still arises when the floor is dry. I find it very hard to filter the point cloud accordingly, and it makes the meshing process quite challenging.

I haven't seen this problem mentionned on the forum or on GitHub before, but I'd like to know if this is something people also have been dealing with, and if it's fixable with the correct parameters. I still have this issue after detecting more loops and bundle adjustment.

Thank you for you help

Pierre