Distant pixels disapear when close object appears.
Stray light

See also: stray light

Distant objects apear closer
Stray light

See also: stray light

Distant objects appear much closer

Stray light can generate ghost pixels around close objects. The best way to detect it is to verify the amplitude values for these pixels. In case they have low ampliutide, it is most likely caused by stray light. There are 2 options for mitigation. One way is to do SW filtering. The other way is to adjust the thresholds which defines the maximum noise on a pixel.

NoiseThreshold

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Straylight removal

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Unambiguity issues

Unambiguity issues. High reflective objects could generate distance values outside of the unambiguity range. The use cases with 9 phases (MODE_9_…) have an unambiguity range of 7.5 m, the use cases with 5 phases (MODE_5_…) have an unambiguity range of 2.5 m

changing to a usecase with 9 phases (MODE_9_…)

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Logical solution: taking 2 images in sequence, but with a long and short exposure time. In case the target with the short exposure time disappears, the target most likely is outside of the unambiguity range

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In case the depth data is analyzed for purposes like object detection and tracking, some application-level-logic may be applied to check. Objects flying in the air are suspicious to be in the wrong unambiguity range.

Rounded corners

MPI: when there are corners on which one side is high reflective and the other side is low reflective, the low reflective plain is rounded. The reason for this behavior is that IR light from the high reflective area is scattering back to the low reflective area. The scattering light merges with the direct reflections and corrupts the distance measurement.

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Rounded edges

Stray light
See also: stray light

Flying pixel

Half transparent objects.
Objects which are half-transparent in visible light conditions are full transparent to IR light. A good indication is to check the gray image.

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Tools => Data => Grey

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