# Noisy output from TOF sensor

Source: https://forum.modalai.com/topic/1971/noisy-output-from-tof-sensor
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-03-21 13:47:29 UTC by Anubhav
Replies: 2 · Views: 662

## Anubhav · 2023-03-21 13:47:29 UTC

Hello ModalAI Team, 

I have been using TOF sensor for obstacle avoidance. I am noticing that sensor is taking ghost point clouds during mission. 
I have made sure that sensor is not getting interfered with the hardware. 

How this issue can be resolved.

Thanks. 
Anubhav

## Reply by Chad Sweet (ModalAI staff) · 2023-03-21 22:51:31 UTC

You should expect a small amount of noise periodically and account for that in your filtering and mapping

## Reply by afdrus · 2023-05-09 07:36:07 UTC

I am facing the same issue. How can I account for this noise? Are there any parameters to tune to filter the sensor output on the voxl2 side?
@Anubhav did you solve this issue?