Re: Rtabmap with ZED1 - noisy result

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-with-ZED1-noisy-result-tp8774p8785.html

Reflective floors can indeed cause points under the floor for stereo cameras. With IR pattern, it may reduce this effect, but IR can also be reflected.

ZED for indoor navigation is possible, but don't expect accurate 3D reconstructions. However for navigation, even if the objects/walls are noisy, as long as the robot can avoid them it is fine. The advantage of an IR stereo camera with IR pattern like realsense over the RGB ZED stereo camera is that textureless surfaces (e.g., white walls) can be detected. To filter the floor in rtabmap for the occupancy grid generated, you can play with Grid/MinGroundHeight parameter, by setting it to -0.1 for example. To filter the ceiling, the higher bound of the passthrough filter is defined by Grid/MaxObstacleHeight parameter.

cheers,
Mathieu