• Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
  • Register
  • Login
ModalAI Forum
  • Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
    • Register
    • Login

    ToF v2 outdoor noise

    Image Sensors
    6
    14
    1.2k
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • J
      James Strawson ModalAI Team
      last edited by 13 May 2024, 18:55

      That's a typo on the website we've just corrected. The Starling 2 Max does not include a TOF sensor, and this sensor is not intended for outdoor use.

      I spent some time tuning the TOF point cloud processing filter params on Friday to reduce noise. These changes are in the dev branch now: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/919c24bef21cbea2eb7be33853884f5f606a0763

      These these changes are likely to help in the outdoor use case too so I suggest giving it a go.

      M 1 Reply Last reply 16 May 2024, 19:22 Reply Quote 1
      • M
        MattK @James Strawson
        last edited by 16 May 2024, 19:22

        @James-Strawson Hmmm, unfortunate typo. Does the Starling Max 2 use its dual IMX412 color image sensors to get depth-from-stereo, in order to do outdoor VOA? I wasn't too impressed with the quality of outdoor DFS that I got from the M0015, but perhaps the IMX412s are better?

        Appreciate the extra help/guidance on TOF processing, I'll try take a look. Even though the outdoor use case is not ideal, I'm still leaning towards trying to make the TOF sensors work for us, as the results I'm getting still seem more promising than what I was getting from stereo.

        A 1 Reply Last reply 17 May 2024, 01:32 Reply Quote 0
        • A
          Alex Kushleyev ModalAI Team @MattK
          last edited by 17 May 2024, 01:32

          @MattK ,

          James is out of office, so i will respond. The dual IMX412 will not be used for DFS, in fact the cameras will be pointed in different directions (one forward, one down).

          Also, IMX412 are rolling shutter cameras, which would make it difficult to get accurate DFS while in motion.

          M 1 Reply Last reply 17 May 2024, 17:51 Reply Quote 0
          • M
            MattK @Alex Kushleyev
            last edited by 17 May 2024, 17:51

            Thanks, @Alex-Kushleyev .

            If that's the case, then what kind of VOA solution is present on the Starling 2 Max?

            M 1 Reply Last reply 18 May 2024, 00:06 Reply Quote 0
            • M
              Moderator ModalAI Team @MattK
              last edited by Moderator 18 May 2024, 00:06 18 May 2024, 00:06

              @MattK There is currently no VOA capability on Starling 2 Max

              M 1 Reply Last reply 20 May 2024, 19:51 Reply Quote 0
              • M
                MattK @Moderator
                last edited by MattK 20 May 2024, 19:57 20 May 2024, 19:51

                @Moderator Oh... interesting. You might want to remove this bullet point from its sales page then. https://www.modalai.com/products/starling-2-max?variant=48172375310640

                9baa1fb3-7afe-4d1e-9644-9905ec7eefc7-image.png

                Would you be able to recommend a drone with a working VOA solution? We're interesting in getting one to get a baseline for the quality we can expect from VOXL2's built in VOA SDK. I'm particularly interested in assessing depth-from-stereo, I've gotten good enough results for now from the TOF v2 sensor. But TOF recommendations are welcome as well.

                M J 2 Replies Last reply 21 May 2024, 00:48 Reply Quote 0
                • M
                  Moderator ModalAI Team @MattK
                  last edited by 21 May 2024, 00:48

                  @MattK said in ToF v2 outdoor noise:

                  to remove this bullet point from its sales pag

                  Thank you, fixed

                  1 Reply Last reply Reply Quote 1
                  • D
                    dlee @MattK
                    last edited by 21 May 2024, 01:23

                    @MattK Have you ever tested the EXTRA_LONG_RANGE mode of tof v2? I am also testing VOA outdoors using tof sensor. But it was not enough for me. I tested all of the modes in v2, Extra long-range mode has less noise than other modes. Even though extra long-range mode is better than others, VOA using tof v2 makes the drone stop 2m away from obstacles.

                    M 1 Reply Last reply 21 May 2024, 17:04 Reply Quote 1
                    • M
                      MattK @dlee
                      last edited by 21 May 2024, 17:04

                      @dlee Ah, no I have not. I'll give that a try when I get the chance. Thanks!

                      1 Reply Last reply Reply Quote 0
                      • J
                        Jetson Nano @MattK
                        last edited by 22 May 2024, 06:16

                        @MattK @Moderator
                        If the Starling V2 Max doesn't support a DFS server due to IMX412 being rolling shutter cameras and no TOF, then how is the 3D map generated?
                        Since in my understanding, to generate a map you need depth values/ point cloud data.
                        If the depth estimates are being obtained by some other means then why can't the same point cloud be made available for VOA in vision-hub server?

                        1 Reply Last reply Reply Quote 0
                        5 out of 14
                        • First post
                          5/14
                          Last post
                        Powered by NodeBB | Contributors