Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Lidar Snowpole localization

asked 2021-03-16 03:33:26 -0500

larsb
11 ●1 ●1 ●2

Im have a lidar from Sick, LMS, this has a ROS driver https://github.com/SICKAG/sick_scan , my goal is to use the 2D lidar to localise a snowpole (circle, half circle). The lidar is to be mounted on a truck, se image https://imgur.com/a/TYIM7hM Image of snowpole https://imgur.com/a/Mko6E2E , its about 20mm in diameter.

Does anybody have some idea to where i could find some packege that could help me achive my goal?

I have found: (but not sure these would work):

My main consern is the update rate and the detection of such a small object, it is no problem with the size og the object when using the built in functionality of the scanner.

Thanks

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2021-03-22 02:26:42 -0500

Loy
141 ●2 ●7 ●10

20mm is really really narrow. Depending on distance to the scanner and the resolution, such a pole will result in only a few laser points, if at all. My suggestion would be to do some basic calculations first to see the number of points the lidar will 'see' a snowpole with at what range.

My bet is that that is relatively low and thus that a lidar is not really a great way to achieve this goal. If I'm wrong and you do get eg. tens of points on a snowpole, you could do a Hough transform to fit circles on those points. Or just clustering could be sufficient.

If lidar does turn out to not be useful, a stereo-camera that filters out red blobs (which should be do-able against a snowy background) could be an option worth considering.

edit flag offensive delete link

add a comment

Question Tools

2 followers

Stats

Asked: 2021-03-16 03:33:26 -0500

Seen: 186 times

Last updated: Mar 22 '21

Lidar Snowpole localization edit

1 Answer

Question Tools

Stats

Related questions

Lidar Snowpole localization