I’ve been using the ZED 2i for SLAM and I’ve been having trouble with forgetting ghost artefacts in the map - I’ll walk in and out of frame, but my image persists in the map when I’m gone. I’m plotting fused_cloud in RViz. I’ve tried experimenting with depth_stabilization and depth_confidence mainly. And I’ve used GEN_1, as that has been the most stable tracking mode for me. I’m using the camera indoors in a well-lit environment. In terms of my system, I’m on ROS 2 Humble, Ubuntu 22.04, Cuda 11.5, and have used ZED SDK 5.0.1 and 5.0.3 (both versions are unable to eliminate the ghost artefacts).
Are there any recommended settings or parameters I should be focusing on for this problem?
I’m also interested in more of the underlying processes on how the spatial mapping works - is it voxel based? And if so, is there a way to change the voxel size?
This feature is not provided by the ZED SDK Spatial Mapping module.
You can try to use RTABmap.
Please read more about the module in the documentation.
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