# Depth Camera Randomization

![A comparison of a simulated depth camera output, and the output of a real depth camera.](images/camera-noise-realsense.png)

When working with depth cameras like RealSense, we need to account for their characteristic noise patterns. The real cameras show significant differences from perfect simulation data:

- Edge artifacts create holes due to stereo matching failures
- Areas where depth values can’t be calculated
- Non-uniform noise patterns across the image

To make simulations more realistic, we add:

- Uniform noise across depth values
- Strategic data gaps to mimic real sensor behavior
- Blob-like missing data patterns

#### TIP
Learn More: [Learning a State Representation and Navigation in Cluttered and Dynamic Environments](https://arxiv.org/pdf/2103.04351)