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How can I remove lidar ring?

asked 2018-07-11 00:08:59 -0500

adioshun gravatar image


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.

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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 gravatar image Choco93  ( 2018-07-11 06:02:39 -0500 )edit

@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

adioshun gravatar image adioshun  ( 2018-07-11 08:58:58 -0500 )edit

Do you want to remove ground points, or whole lidar ring?

Choco93 gravatar image Choco93  ( 2018-07-12 06:22:40 -0500 )edit

@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

adioshun gravatar image adioshun  ( 2018-07-14 02:45:55 -0500 )edit

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.

Choco93 gravatar image Choco93  ( 2018-07-16 01:40:30 -0500 )edit

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answered 2018-07-11 01:36:30 -0500

ashwath1993 gravatar image

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.

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Thank your for ur comment. I just apply the ransac and it works. However, there are some missed points.

adioshun gravatar image adioshun  ( 2018-07-11 09:00:24 -0500 )edit

@adioshun Hi, I'm also interested in the project, could you please provide your ransac code for removing the lidar rings?Thanks a lot!

Jaiy gravatar image Jaiy  ( 2018-09-10 21:33:56 -0500 )edit

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Asked: 2018-07-11 00:08:59 -0500

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Last updated: Jul 11 '18