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Intel R200 Depth Stream Noise Issue

asked 2016-03-28 15:13:50 -0600

y27choi gravatar image

I'm using Intel RealSense R200 camera to capture 3D information to update the costmap for move_base on Ubuntu 14.04 LTS.

Unfortunately, the pointcloud data produced from the depth stream is too noisy to be used to plan a proper path. Does anyone know an effective, less computationally expensive, noise removal algorithm for the depth stream?

I have tried OpenCV's median filter and bilateral filter, as well as the PCL noise removal filter which seem to help a little but didn't remove the noise entirely - plus they were all computationally expensive with a bigger kernel size setting. Also, most of the filters required 8 bit depth or floating points as well, but the depth stream from RealSense ROS has a 16-bit depth format. Hence, extra processing to convert 16-bit depth to floating point was required.

I have seen many people using this camera without any problem and it will be really appreciated if someone can help me with this noise issue!

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I got the same problem, too. If there are any solutions, can you please share them here? thank you :)

Houk gravatar image Houk  ( 2016-10-14 01:37:54 -0600 )edit

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answered 2017-02-23 13:04:02 -0600

I had the same issue, depth data pretty noisy and almost not working.
Got it fixed by re-calibrating the sensor, as R200 has stereo IR camera with a single IR emitter, the calibration can be messed up easily (heat, motion shock, firmware update, ...).
I did the calibration with ROS, the depth result got way better, then decided to test their own calibration software you can find from Download Intel® RealSense™ Camera Calibrator for Windows*. It is pretty easy to use, you just need a light colored non-reflective surface to point the camera at for a while (and move a bit in my case) and the software does the rest.
My sensor is working great now !

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Asked: 2016-03-28 15:13:50 -0600

Seen: 1,135 times

Last updated: Mar 28 '16