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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.25k stars 436 forks source link

How to imporve the mapping performance with D435? #208

Open shivauchiha opened 2 years ago

shivauchiha commented 2 years ago

When I focus on staircase like obstacles , I am not getting stair case like structure. Instead I get mound like structure Screenshot from 2022-04-14 17-35-33 Screenshot from 2022-04-14 17-35-43 .

maximilianwulf commented 2 years ago

It seems you are that your sensor is so far that you run into the egg carton effect. I think it should be solved by moving the camera closer.

Also I recommend: https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/BKMs_Tuning_RealSense_D4xx_Cam.pdf