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Detecting positive/negative obstacles with a lidar

asked 2020-10-17 07:34:52 -0500

Gherkins gravatar image

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?

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answered 2020-10-17 09:44:49 -0500

duck-development gravatar image

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

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Asked: 2020-10-17 07:34:52 -0500

Seen: 29 times

Last updated: Oct 17