I have been using Intel‘s D-435i for 6D object Pose estimation and i have to say i was not really happy with the quality of the retrieved depth-frames. The Dept

I have been using Intel‘s D-435i for 6D object Pose estimation and i have to say i was not really happy with the quality of the retrieved depth-frames. The Depth images are very noisy, flat surfaces appear heavily wavy thus making it difficult to apply it for tasks that demand a relatively exact 3D representation of the surrounding Space, which is a problem that has been mentioned in a few issues by several other clients. Just Google ghost noise or wavyy Noise D-435i. Moreover the AI implementier is actually Not really AI, it‘s just a bunch of common filters for depth-noise reduction such as a Median filter, just look up the filters. And lastly the depth-measurement becomes more unexact the further the point is away, therefore making it necessary to apply a depth-correction, in my case a correction polynom of 2nd Order. All in all i have to say i‘d not use it again, especially not in industrial contexts. The Kinectv2 delivers a much more stable and reliable depth-image, Even though the realsense programming Interface is mostly nice to work with.