Depth precision in mapping

Posted by kazu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Depth-precision-in-mapping-tp464.html

Hi,

I'm Kazu who asked question how to work with laser scanner and Kinect (without odometry) previously.  
This time I have a question regarding to depth precision in mapping.  Shortly, the precision is poor and I want to know if it is usual or not.  Here is the detail; let's say we have a dead end at the end of hallway; when I get close to the dead end, I always have multiple layers.  The wall appears closer when I get close to the wall.  For robotic application, I don't think this is critical, but do you have same issue?
My suspect is this precision error is due to either Kinect depth precision or TF settings.

Thanks,
Kazu