I am using an Astra camera in my robot and the camera is tilted, facing the floor, and I noticed that during usage, I have an effect as if the camera was changing its orientation (roll).
To calibrate its position, we use an algorithm which detects the main plan and calculate the sensor height, roll and pitch.
I have noticed for a while that I constantly needed to recalibrate my cameras and decided to investigate it further.
What I've found out is that there is some kind of error that grows with time and eventually stabilizes, as if the camera was changing its roll (which it is not, it is mounted in a very stable setup). I took measurement for one hour, starting after 30 minutes with the camera off, and this is how it looks like:
time - computed roll (degrees):
13:53 - 0.88
13:59 - 1.27
14:06 - 1.76
14:12 - 2.10
14:17 - 2.25
14:32 - 2.33
14:38 - 2.37
14:52 - 2.40
14:57 - 2.41
15:09 - 2.40
do you have any idea what is going on? I am guessing temperature...
can you think about any way to overcome this situation? maybe the temperature compensation is not working as it should...
any ideas are more than welcome.