ground plane filtering in uneven terrain in a pointcloud?

asked 2019-11-07 22:25:13 -0600

PapaG gravatar image

Hi.

I am using the Velodyne Puck for obstacle detection in a robot that needs to traverse uneven terrain. I was wondering what the best way to filter the ground is? I have looked at rtabmap in simulation which was able to filter the ground using a kinect. In practice however, it is not filtering my ground plane. I suspect it is because as we move further away, the distance between scans gets larger (since its just a 3D representation of 2D scans).

Thanks, Grant.

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