Sorry, I guess I was being overzealous... Adding to the discussion: Indeed I can detect most objects that are 3 cm in height, using the usual sensors. And, as @AlexReimann stated, the biggest issue I had was properly filtering the ground, as many sensors have a distortion in measurements and that error grows with its distance from the ground. I would not recommend the Orbbecs for this task as they suffer from a drift problem that would invalidate the calibration after a couple of hours ( https://3dclub.orbbec3d.com/t/optical-frame-change-due-to-temperature/536). But if you want go to under 3 cm that would be a bit harder... Maybe installing the sensor very close to the ground and looking forward? Or if you want to go with image processing, it would be relatively easy to detect objects using color segmentation, for example. --- [Visit Topic](https://discourse.ros.org/t/avoiding-small-obstacles-on-the-gruond/1939/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: