Depth Camera Randomization#
Simulation vs RealSense A side-by-side image showing the differences between a simulated enviroment and the environment captured through a RealSense camera.#
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