Detecting positive/negative obstacles with a lidar

I want the robot to be able to detect positive obstacles like poles/humans but also negative obstacles like a hole in the road. I have a tilted lidar that produces a point cloud of the area in front of the robot. I don't have much experience mapping with a lidar so what is normally the best practice for detecting both of these obstacles?

Would it be feasible to use a single lidar for both or would it be better to use a planar/horizontal lidar for detecting positive obstacles in front of the robot and a different sensor for detecting the negative obstacles?

Asked by Gherkins on 2020-10-17 07:34:52 UTC

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Answers

You have just to estimate the ground plane in your 3d point cloud. And then cluster the points obove are positiv benive are negativ.

Asked by duck-development on 2020-10-17 09:44:49 UTC

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Maybe my answer is too late. Currently, I am working on tilted lidar as well. What I did is convert lidar laser points coord into map 3D point cloud coord. Then the point clouds include positive z points and negative z points.

Then you need to make sure the min_obstacle_height and max_obstacle_height cover your points range at the z axis. (Notice that min_obstacle_height is one of sensor parameters, it isn't in global filter parameter.)

Asked by marshalshiaug on 2021-01-07 00:54:54 UTC