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Hi.
How can I remove the lidar ring(??) marks on the floor.
I tried the Z-value. However, the min/max value's gaps are almost 0.5m. (So, I failed.)
I am trying to use the RANSAC algorithm with a circle or cylinder model.
Is this a proper approach? If yes, could you please specify the model and recommend the parameter values.
thanks in advanced.
You have to do a ground plane detection. There are several approaches using PCL like planar segmentation.
Just filtering the height usually won't solve the plane removal problem because of sensor noise as well as change in orientation of the sensor.
Asked: 2018-07-11 00:08:59 -0500
Seen: 1,542 times
Last updated: Jul 11 '18
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what lidar are you using? If you are getting ring information from lidar, you can filter points based on that.
@Choco93 I am using a velodyne puck. That is a greate idea. Could you give me more infomation or code to use the ring information. Thanks alot
Do you want to remove ground points, or whole lidar ring?
@Choco93 I want to remove the lidar ring on the ground, In my case, I already remove the outliers and all of the ground points are the ring
So basically you want to remove ground. In that case removing one ring won't help you, you need ground removal, there are several techniques out there that you can use. RANSAC you are already using.