View my account

Depth accuracy in D400 series

Follow
Sohwa427

Hi, I'm using two cameras, D405 and D435.

I use these two at 25cm~30cm distance. And I found that accuracy of D435 is much higher than D405, but according to tech spec. both has accuracy of +/- 2%.

Only difference between D405, and D435's specified accuracy is the distance. D405 has +/-2% at 50cm, D435 has <2% at 2m.

I expect those two should have similar errors, but they do not. Am I misunderstood about tech spec? Or is there any other reason for the difference in errors?

0

Comments

7 comments

Date Votes
  • MartyG

    Hi Sohwa427  The D405 model provides high quality, high accuracy images at close range.  However, it is not equipped with the IR projector component that the other 400 Series camera models such as D435 have.  So a D435 will likely perform better with materials that have low texture detail or no texture on their surface, as its projector can cast a pattern of dots onto a smooth plain surface to aid the camera with depth analysis of that surface.

    0
    Comment actions Permalink
  • Sohwa427

    If IR projector is the biggest issue of difference between D405 and D435, I'd better use D435 instead.

    But I should use depth data from near object (e.g., wall within 25cm). In this case, D435 is the best option? or is there any other product which has IR projector like D435 and distance like D405?

    0
    Comment actions Permalink
  • MartyG

    D405 is the only model designed specifically for close distance use, with an ideal depth sensing range of 7 cm to 50 cm.  As you are using 25 to 30 cm range though, D435 is also a good choice for that range because next to the D405 it has the lowest minimum depth sensing distance in the RealSense range.  Other models such as D415 and D455 have a larger minimum depth distance that would make them unsuited for the 25-30 cm distance.

    0
    Comment actions Permalink
  • Sohwa427
    • Edited

    So, according to your comment, D435's spec says its ideal range is above 30cm but also it can be used for the near features.

    But I found that in the distance near 25cm, D435's depth value returns 0 or some times larger than 30cm. Is this error occur because of distance?

    0
    Comment actions Permalink
  • MartyG

    The RealSense Store quotes the D435's minimum distance at 30 cm but originally it was 10 cm so I am confident that it can operate successfully in the 25-30 cm range.

    0
    Comment actions Permalink
  • Sohwa427

    Okay, I will check my code to find a problem!

    Thanks a lot

    0
    Comment actions Permalink
  • Sohwa427

    I set width and height of depth, ir, rgb to 1280x720. After that I use rviz to visualize the depth points. At the distance further than specific distance, pointcloud is dense so that I can see all of the feature.

    But at the distance nearer than specific distance, pointcloud get sparse. Is this can be happened because of the resolution?

    0
    Comment actions Permalink

Please sign in to leave a comment.

Didn't find what you were looking for?

New post