2D - 3D fusion

Guide to setup 2D - 3D fusion using cutoff distance/replacement

Motivation

A lot of 3D sensors

• output reasonable data at a close distance

• fail or have high noise at a larger distance

It is possible to setup 2D - 3D fusion where

• 3D data is visible at a close distance

• 2D data is visible at far distance

• 3D data emerges from 2D data

Setup

Setup Cutoff Distance and Cutoff Replacement in SenseKit Configuration to matching values, for example, 1 m.

In the 2D view, the 3D data part is not shown again to avoid confusion with double visibility of the same objects.

Examples

Calibration board and chair visible in 3D, most of background is 2D image

Note that in the above image, the chair is not visible again in 2D view - this is expected.

Same as above from side view