I am using RS-D435I as a v-slam main sensor for an AGV, which applied in a factory surrounding.
And the problem appeared, D435I cannot measure the distance of the railway of the crane in our factory correctly. And this problem only appeared on the crane-railway this very object.
the quite far away crane-railway will be mistaken as a nearby object by the sensor, thus the traverse discrimination of our program will be triggered.
you may see the phenomenon from the following pictures, which include the measure-result showed from rs-viewer under Ubuntu16.04 system and the reality crane, the mistaken parts are in the red-box.
I tried using the “High Accuracy” Mode in the preset or set a pretty high value(over 800) in the "Advanced Controls->Depth Control->DS Second Peak Threshold in the "default"/"High Density" mode. Both way can reduce the area of the mistaken-part, but D435i still randomly return the wrong distance value of this crane-railway in certain posture.
So my following questions are:
a. Is this a common Problem for the D435I (cannot get the correct depth-value of some surfaces with periodic textures )?
b. Is there any parameter, I can use to fix this problem?
c. Is there any way I can make some filter or preprocess to the IR frame input before it be used to deal the stero-processing?(even I dont think this part is opened for the user)
d. Maybe some suggestion for me to modify my traverse discrimination. which now is judging if there is some large object in the space of 2 meters long ,1.4 meters wide and 1.6 meters high in front of the camera continuously for 100 mseconds.
Thanks for the answer, I am pleasure for everyone shared the experience about similar problem.
with best regards,
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