Re: Depth precision in mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Depth-precision-in-mapping-tp464p465.html

Hi Kazu,

Can you post a screenshot of the problem? Don't know if I understand the "multiple layers" you are seeing. Do you filter the point cloud from the Kinect to a maximum depth? The Kinect's point cloud over 4 meters have really poor precision, so if you are moving toward a wall for which some point clouds were taken from 10, 8, 6, 4, 2 meters are superposed, the wall would be very poorly rendered.

Also, if you map using the 2d laser scanner, the rendered point cloud from the Kinect may be not correctly aligned with the scans (the Kinect is not calibrated or there is a bad synchronization of the messages).

cheers,
Mathieu