Noisy laser scan from Kinect V2

asked 2018-05-14 14:14:31 -0500

kaankeskin gravatar image

updated 2018-05-20 12:03:49 -0500

I have a Turtlebot with Kinect V2 and using kinect2_bridge for publishing depth images and depthimage_to_laserscan to generate laser scan. My problem is that the laser scan is noisy.

There are dancing dots in front of robot like that: noisy_laser

This is what I get when I set the decay time of the laser scan to 200: laser_with_decay

I am able to generate map using gmapping but the navigation stack is not working as I expected since these dots are simply obstacles in front of the robot.

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A quick point, I'd describe the points that are troubling you as outliers not noise. Could you show the full Kinect point cloud as well as the synthesised laser scan (in a different color) They may be outliers in the data or points on the floor that being picked up.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-05-14 15:20:47 -0500 )edit

makes sense. I can try it in 2 days and will write the result here

kaankeskin gravatar image kaankeskin  ( 2018-05-14 15:37:51 -0500 )edit

yeah, you guessed it right it was the floor. i wasn't be able to remove the outliers so i just cleared all the lasers but gave uncleared laser to amcl for localization. So, now the robot goes but doesn't see obstacles. Works for my project dough.

kaankeskin gravatar image kaankeskin  ( 2018-05-17 12:41:52 -0500 )edit

Glad you got it working. A full 3D nav system would probably be more appropriate if you end up taking the project forwards.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-05-17 12:52:51 -0500 )edit

@kaankeskin can share me how to convert depth image to laser scan in kinect v2.ihave kinect2bridge after that i dont know to proceed

akshayantony gravatar image akshayantony  ( 2019-11-24 13:29:53 -0500 )edit