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Filtering spikes from range data

asked 2012-11-13 14:42:06 -0600

Pi Robot gravatar image

Hello,

Is it possible to use the filters package to remove spikes from real-time range data returned from sonar or IR sensors? I have a small robot running ROS that uses a number of sonar and IR sensors to detect obstacles. Every once in awhile the sensors will return a spurious value that can cause the robot to think there is an obstacle when there isn't. I don't want to use a mean filter because this slows down the robot's response to an obstacle that really is there. I just want to remove the spikes.

I can easily code this myself but I was wondering if the existing ROS filters can be used for the task?

Thanks!
patrick

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Thanks @Peshala--I will give that a try assuming it will work over a temporal series rather than a spatial laserscan. (Or maybe that's the way it works with the laserscan as well.)

Pi Robot gravatar imagePi Robot ( 2012-11-16 03:32:18 -0600 )edit

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answered 2012-11-13 22:09:46 -0600

ChickenSoup gravatar image

You can have a look at <http://ros.org/wiki/laser_filters> in addition to filters package; especially the ScanShadowsFilter

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Asked: 2012-11-13 14:42:06 -0600

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Last updated: Nov 13 '12