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JSKAerialRobot / jsk_uav_forest

THe platform for the uav forest challenge
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[Planning] ghost obstacle problem #47

Closed tongtybj closed 7 years ago

tongtybj commented 7 years ago

We confirmed that there are some ghost points or obstacle closed to the laser sensor.

I resolve by 3074a31

  1. we have to choose the scan point which has positive value. Previously, we chose the non-nan point, containing the negative point. but the negative point may a ghost point, not a cluster. So we should exactly choose the positive point(center of a cluster)
  2. some of the cluster are very small, like having only 3~5 point. Those kind of cluster can be a far obstacle or a ghost obstacle if closed to the laser. We have to set a threshold to filter those kind small cluster.