Forums - Voxel Map parameter tuning for Time of Flight sensor

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Voxel Map parameter tuning for Time of Flight sensor
aseyfi
Join Date: 9 Sep 16
Posts: 4
Posted: Thu, 2018-07-12 07:35

Hello,

We are using voxel map library along with a time of flight depth sensor (MD101). Given the fact that time of flight is providing a significantly less noisy data compared to stereo camera, would you please let us know if there is anything about voxel map library that has been tuned specifically for depth from stereo? Also, are there any parameters that need to be set based on noise level of the depth sensor?

Thanks,
Ahmad

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gmcgrath
Join Date: 21 Aug 13
Posts: 59
Posted: Thu, 2018-07-12 16:51

I am unsure what the MD101 ToF sensor is.

In some ways, the current version of the voxel map feature is better for depth sensors over depth-from-stereo (DFS).  For example, the constant noise model is a much better fit to a ToF sensor than DFS.  The noise numbers should be known or testable from your sensor.  The filter weight is more about your use case than the sensor performance.  While the API and algorithms have not been tuned specifically for DFS, they have been optimized for DFS behind the scenes.  However, those optimizations are not at the cost of the ToF use case.

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