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Wrong depth value D410

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Lch

Hi

My company have been working on an IoT device which includes a D410. We have had multiple installations without any problems, but in one of our latest installations we see a general problem with the measured distance of the camera(s) (we have tested three different cameras). The cameras are calibrated in our production (using the Intel OEM calibration target) and seems to work correctly when tested in house.

The problem is that the measured distance from the camera to the floor (the camera is mounted at a height of around 230 cm pointing to the floor) is measured way to low. We have seen small deviations +/- 5 cm which we accept due to the limitations of the camera, but in the new installation we see measurements of 170-200 cm i.e., a difference of 30-60 cm.

We have not been able to pinpoint why this installation is significantly different than the others so I would like to know if you have any suggestions on what we might try? 

We know that the installation is difficult since we are facing a floor with a repeating pattern, but we have seen similar floors before. Normally these floors result in areas with no distance but in this case, we see a wrong distance.

Thanks in advance.

Best regards
Lars

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4 comments

Date Votes
  • MartyG
    • Edited

    Hi Lch  Intel have a guide at the link below about mitigating the negative effects of repeating ('repetitive') patterns that may be helpful to you if you have not seen it already.

    https://dev.intelrealsense.com/docs/mitigate-repetitive-pattern-effect-stereo-depth-cameras

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  • Javier Recasens

    You could use an interval of quantiles (e.g. 5% to 95%) to set all pixel depth values outside that range to zero (or impute with the median or nearest neighbor).

     

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  • Lch

    Thanks MartyG we will start with that and see if we can improve our results.

    Hi Javier. Unfortunately we currently need to be able to see the floor at some point. We are using the floor as a installation "calibration" so it is not that we need to remove/ignore the pixels it is that we need the distance to be closer to the correct value. That being said in a future version of our software I think we might be able to utilize your idea so thanks for the reply!

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  • MartyG
    • Edited

    Hi Lch  Do you have the option at the installation location of installing your own floor covering under the camera such as a mat that may be easier for the camera to read?

     

    Tilting the camera can help to break up repetitive patterns.  The camera should be able to be tilted up or down by up to 30 degrees without impacting the depth accuracy before problems with the image start to occur at tilt angles greater than 30 degrees.

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