diff --git a/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py b/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
index 2bce9168..04534516 100644
--- a/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
+++ b/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
@@ -95,7 +95,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
diff --git a/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
index 2bce9168..04534516 100644
--- a/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
+++ b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
@@ -95,7 +95,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py b/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
index 2bce9168..04534516 100644
--- a/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
+++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
@@ -95,7 +95,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 0dc7bc95..cdb24b44 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -635,6 +635,7 @@ class OBCameraNode {
   std::string color_powerline_freq_;
   bool enable_color_decimation_filter_ = false;
   int color_decimation_filter_scale_ = -1;
+  int color_denoising_level_ = -1;
   // depth ae roi
   int depth_ae_roi_left_ = -1;
   int depth_ae_roi_top_ = -1;
diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py
index f4d4e588..a69d609e 100644
--- a/orbbec_camera/launch/dabai_a.launch.py
+++ b/orbbec_camera/launch/dabai_a.launch.py
@@ -85,7 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
diff --git a/orbbec_camera/launch/dabai_al.launch.py b/orbbec_camera/launch/dabai_al.launch.py
index f4d4e588..a69d609e 100644
--- a/orbbec_camera/launch/dabai_al.launch.py
+++ b/orbbec_camera/launch/dabai_al.launch.py
@@ -85,7 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
diff --git a/orbbec_camera/launch/gemini345.launch.py b/orbbec_camera/launch/gemini345.launch.py
index f4d4e588..a69d609e 100644
--- a/orbbec_camera/launch/gemini345.launch.py
+++ b/orbbec_camera/launch/gemini345.launch.py
@@ -85,7 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
diff --git a/orbbec_camera/launch/gemini435_le.launch.py b/orbbec_camera/launch/gemini435_le.launch.py
index c8947539..de057ee9 100644
--- a/orbbec_camera/launch/gemini435_le.launch.py
+++ b/orbbec_camera/launch/gemini435_le.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py
index bf1641b5..b0ac9dd7 100644
--- a/orbbec_camera/launch/gemini_330_series.launch.py
+++ b/orbbec_camera/launch/gemini_330_series.launch.py
@@ -115,6 +115,9 @@ def generate_launch_description():
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
+        DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
+        #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
+
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
         DeclareLaunchArgument('depth_fps', default_value='0'),
@@ -176,6 +179,7 @@ def generate_launch_description():
         DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
+
         # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
         # If you do not want to automatically enumerate network devices,
         # you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
diff --git a/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py b/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
index 71c0f066..89fe5f4a 100644
--- a/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+++ b/orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
@@ -112,10 +112,13 @@ def generate_launch_description():
         DeclareLaunchArgument('color_saturation', default_value='-1'),
         DeclareLaunchArgument('color_contrast', default_value='-1'),
         DeclareLaunchArgument('color_hue', default_value='-1'),
-        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
+        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
         DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
         DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
         DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
+        DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
+        #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
+
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
         DeclareLaunchArgument('depth_fps', default_value='0'),
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 9d3a58aa..a8d7fa74 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -231,7 +231,9 @@ void OBCameraNode::setupDevices() {
       enable_stream_[stream_index] = false;
     }
   }
-  auto info = device_->getDeviceInfo();
+  auto device_info = device_->getDeviceInfo();
+  CHECK_NOTNULL(device_info);
+  auto pid = device_info->getPid();
 
   if (retry_on_usb3_detection_failure_ &&
       device_->isPropertySupported(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
@@ -607,6 +609,11 @@ void OBCameraNode::setupDevices() {
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT,
                         color_backlight_compensation_);
   }
+  if (isGemini335PID(pid) && color_denoising_level_ != -1 &&
+      device_->isPropertySupported(OB_PROP_COLOR_DENOISING_LEVEL_INT, OB_PERMISSION_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting color denoising level to " << color_denoising_level_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_DENOISING_LEVEL_INT, color_denoising_level_);
+  }
   if (!color_powerline_freq_.empty() &&
       device_->isPropertySupported(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, OB_PERMISSION_WRITE)) {
     if (color_powerline_freq_ == "disable") {
@@ -1780,6 +1787,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(color_contrast_, "color_contrast", -1);
   setAndGetNodeParameter<int>(color_hue_, "color_hue", -1);
   setAndGetNodeParameter<int>(color_backlight_compensation_, "color_backlight_compensation", -1);
+  setAndGetNodeParameter<int>(color_denoising_level_, "color_denoising_level", -1);
   setAndGetNodeParameter<std::string>(color_powerline_freq_, "color_powerline_freq", "");
   setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
                                false);