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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
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The plane has bumps in elevation_map #177

Open wzy012 opened 2 years ago

wzy012 commented 2 years ago

Hi, when I did the experiment, I found that there are sharp bumps in the plane,but these bumps should not have existed.I want to know why this happens. sendpix0 I hope you can give me suggestions,Thanks!

maximilianwulf commented 2 years ago

Hey @wzy012, usually because of outliers in the input data. Is this from the simulation environment?

wzy012 commented 2 years ago

Hey @wzy012, usually because of outliers in the input data. Is this from the simulation environment?

Thanks for your apply. It is from real environment.

maximilianwulf commented 2 years ago

Ah oki, then this is due to outliers in the sensor reading, which is normal for most depth sensing devices. I recommend looking into elevation map post processors to find a set of filters that remove the outliers.

To confirm, you can check the input point cloud. There you should see that the outlier point exists in the input point cloud.