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Hi, I am trying to create an occupancy grid using a ZED stereo camera along with rtabmap_ros. My results are very noisy and I am wondering if the problem is with the ZED camera, or with my rtabmap_ros config, or both. Can anyone verify whether or not rtabmap can deal with this level of sensor noise.


  • ZED camera calibrated using the calibration tool found in /usr/local/zed
  • Running on NVIDIA TX1, Ubuntu 14.04, ROS Indigo
  • Indoor well light room, ZED mounted on mobile robot being joysticked


Here is a sample of a map I have generated image description

And here is an example of the depth cloud at one instant image description

As you can see the depth cloud is fairly noisy, but what sensor data isn't.

Launch File:


  <include file="$(find zed_wrapper)/launch/zed_tf.launch" />

  <arg name="svo_file" default=""/>
  <group ns="camera">
    <node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" args="$(arg svo_file)" >

      <param name="resolution"            value="2" />
      <param name="quality"               value="1" />
      <param name="sensing_mode"          value="1" />
      <param name="frame_rate"            value="30" />
      <param name="odometry_DB"           value="" />
      <param name="openni_depth_mode"     value="0" />

      <param name="rgb_topic"             value="rgb/image_rect_color" />
      <param name="rgb_cam_info_topic"    value="rgb/camera_info" />
      <param name="rgb_frame_id"          value="/zed_link" />

      <param name="left_topic"            value="left/image_rect_color" />
      <param name="left_cam_info_topic"   value="left/camera_info" />
      <param name="left_frame_id"         value="/zed_link" />

      <param name="right_topic"           value="right/image_rect_color" />
      <param name="right_cam_info_topic"  value="right/camera_info" />
      <param name="right_frame_id"        value="/zed_link" />

      <param name="depth_topic"           value="depth/image_rect_color" />
      <param name="depth_cam_info_topic"  value="depth/camera_info" />
      <param name="depth_frame_id"        value="/zed_link" />

      <param name="point_cloud_topic"     value="point_cloud/cloud" />
      <param name="cloud_frame_id"        value="/zed_link" />

      <param name="odometry_topic"                value="odom" />
      <param name="odometry_frame_id"             value="/zed_link" />
      <param name="odometry_transform_frame_id"   value="/zed_tracked_frame" />

      <param name="visual_odometry"       value="false" />
      <param name="odometry_topic"            value="/odometry/filtered_map" />


      <!--Visual SLAM: args: "delete_db_on_start" and "udebug" -->
      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start" >
         <param name="frame_id"         type="string" value="base_link"/>
         <param name="subscribe_stereo" type="bool" value="false"/>
         <param name="subscribe_depth"  type="bool" value="true"/>

         <remap from="rgb/image"  to="/camera/rgb/image_rect_color"/>
         <remap from="rgb/camera_info"  to="/camera/rgb/camera_info"/>
         <remap from="/depth/image"   to="/camera/depth/image_rect_color"/>
         <remap from="odom" to="/odometry/filtered_map"/>

         <param name="queue_size" type="int" value="30"/>

         <!-- RTAB-Map's parameters -->
         <param name="Rtabmap/TimeThr"                   type="string" value="700"/>
         <param name="Grid/DepthDecimation"              type="string" value="4"/>
         <param name="Grid/FlatObstacleDetected"         type="string" value="true"/>
         <param name="Kp/MaxFeatures"                    type="string" value="200"/>
         <param name="Kp/MaxDepth"                       type="string" value="10"/>
         <param name="Kp/DetectorStrategy"               type="string" value="0"/>   <!-- use SURF -->
         <param name="SURF/HessianThreshold"             type="string" value="1000"/>
         <param name="Vis/EstimationType"                type="string" value="0"/>   <!-- 0=3D->3D, 1=3D->2D (PnP) -->
         <param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
         <param name="Vis/MaxDepth"                      type="string" value="10"/>


Originally posted by shoemakerlevy9 on ROS Answers with karma: 545 on 2016-10-28

Post score: 2

Original comments

Comment by ankursingh0820 on 2017-07-18:
Can you please tell in detailed steps me how I can run your launch file..since I am a novice thanks in advance

Comment by shoemakerlevy9 on 2017-07-18:
I got this launch file from here (https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html). Follow the steps on that page to run the launch file. Let me know if you have any questions.

Comment by ankursingh0820 on 2017-07-18:
ZED (Init) >> WARNING: FPS is too low to enable positional tracking and spatial mapping. Consider using PERFORMANCE parameters [WARN] [1500391893.105831732]: /zed/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published.

found this error,fps-30,but usb is 2.0

Comment by shoemakerlevy9 on 2017-07-18:
In zed_camera.launch change the quality value to 1 if it isn't already. What computer are you running the ZED camera on? It needs a decent GPU to run.

Comment by ankursingh0820 on 2017-07-18:
That's Xeon 8gb, with nvidia gtx580 with gpu memory of 1.5gb memory

Comment by neilj244 on 2017-07-21:
hi im also a colleague of ankursingh0820 i am running it on a jetson tx1.I still get the warning FPS is too low.But there is no output generated


1 Answer 1


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Change the zed_wrapper_node quality parameter to "3" for the highest quality depth image.

0: None
1: Performance
2: Medium
3: Quality


Originally posted by shoemakerlevy9 with karma: 545 on 2016-11-04

This answer was ACCEPTED on the original site

Post score: 0


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