Strange depth artifacts on box edges

[mak-corp]

Hello!

We are making a device for 3D scanning box-like objects with three d415 cameras. Although we don't need to achieve very high precision, we are not satisfied with the depth quality of d415. The issue is that the camera adds points that don't exist. It leads to a kind of spreading our point clouds near to box edges. Since we have to automatically measure the box's parameters, we should do something to get rid of this effect.

We want to use our cameras with Medium Density or even High Density presets, but we see these effects even on High Accuracy or Default presets. We also configured a temporal filter to show points that exist on eight frames in a row. One picture is taken from Realsense Viewer and the other is from our software. They show the same box. The depth resolution of 1280x720 was used.

Did anyone have experience of dealing with this? Should we change some camera parameters? Maybe adding an external light source or projector will help?

Thank you!

P.S. We found the box_dimensioner_multicam example in LibRealSense. It is solving a similar problem. But its precision also suffers from the artifacts.

[MartyG-RealSense]

The point cloud phenomenon that you are experiencing reminds me of one that has been referred to as "ghost noise".

#4553

The company LIPS Corp have an interesting alternative approach to the box measuring problem with their recent LIPSMetric Smart Parcel Kiosk product, where the box is measured by an overhead RealSense camera and OpenVINO software.

https://www.youtube.com/watch?v=zZKTh5DC6Vk

https://www.lips-hci.com/lipsmetric

[MartyG-RealSense]

Case closed due to no further comments received.