diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8617311..a0fe853 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,6 +57,7 @@ target_link_libraries(${PROJECT_NAME}
 add_library(${PROJECT_NAME}_interfaces
   src/interfaces/pcl_interface.cpp
   src/interfaces/opencv_interface.cpp
+  src/interfaces/noise_model.cpp
 )
 
 add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
diff --git a/include/gl_depth_sim/camera_properties.h b/include/gl_depth_sim/camera_properties.h
index 8635ac2..867c7da 100644
--- a/include/gl_depth_sim/camera_properties.h
+++ b/include/gl_depth_sim/camera_properties.h
@@ -1,8 +1,12 @@
 #ifndef GL_DEPTH_SIM_CAMERA_PROPERTIES_H
 #define GL_DEPTH_SIM_CAMERA_PROPERTIES_H
-
+#include <math.h>
 #include <vector>
-
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <map>
+#include <random>
 namespace gl_depth_sim
 {
 
diff --git a/include/gl_depth_sim/interfaces/noise_model.h b/include/gl_depth_sim/interfaces/noise_model.h
new file mode 100644
index 0000000..674ec0a
--- /dev/null
+++ b/include/gl_depth_sim/interfaces/noise_model.h
@@ -0,0 +1,17 @@
+#ifndef NOISE_MODEL_H
+#define NOISE_MODEL_H
+
+#include <math.h>
+#include <vector>
+#include <iostream>
+#include <iomanip>
+#include <string>
+#include <map>
+#include <random>
+
+namespace gl_depth_sim
+{
+std::vector<float> noise(std::vector<float> distance);
+
+}
+#endif // NOISE_MODEL_H
diff --git a/src/camera_ros_example.cpp b/src/camera_ros_example.cpp
index 32580d7..dcfc8fc 100644
--- a/src/camera_ros_example.cpp
+++ b/src/camera_ros_example.cpp
@@ -1,7 +1,7 @@
 #include "gl_depth_sim/sim_depth_camera.h"
 #include "gl_depth_sim/mesh_loader.h"
 #include "gl_depth_sim/interfaces/pcl_interface.h"
-
+#include  "gl_depth_sim/interfaces/noise_model.h"
 #include <pcl_ros/point_cloud.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <ros/ros.h>
@@ -97,7 +97,9 @@ int main(int argc, char** argv)
 
     const auto pose = lookat(camera_pos, look_at, Eigen::Vector3d(0,0,1));
 
-    const auto depth_img = sim.render(pose);
+    auto depth_img = sim.render(pose);
+
+    depth_img.data  = gl_depth_sim::noise(depth_img.data);
 
     frame_counter++;
 
diff --git a/src/interfaces/noise_model.cpp b/src/interfaces/noise_model.cpp
new file mode 100644
index 0000000..f170264
--- /dev/null
+++ b/src/interfaces/noise_model.cpp
@@ -0,0 +1,19 @@
+#include "gl_depth_sim/interfaces/noise_model.h"
+
+std::vector<float> gl_depth_sim::noise(std::vector<float> distance)
+{
+  float segma;
+  std::random_device r;
+  std::seed_seq seed2{r(), r(), r(), r(), r(), r(), r(), r()};
+  std::mt19937 e2(seed2);
+
+  for (int i = 0 ; i < distance.size() ;++i){
+  // Seed with a real random value, if available
+    segma= 0.0012+0.0019* pow(distance[i]-0.4,2);
+    float r = distance[i];
+    // Generate a normal distribution around that mean
+    std::normal_distribution<> normal_dist(r, segma);
+    distance[i] = normal_dist(e2);
+    }
+  return distance;
+}