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LimHyungTae / patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)
MIT License
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adaption for VLP16 #2

Closed bill4u closed 3 years ago

bill4u commented 3 years ago

Hello, thanks for your great work. Is there some examples or advices in parameters setting for the VLP16 data?

LimHyungTae commented 3 years ago

Hello,

To achieve ground estimation by using VLP-16, then I think setting CZM should be revised.

And note that for each bin, at least two scan lines are included.

Otherwise, it is not guaranteed that the eigenvector corresponding to the smallest eigenvalue represents the normal vector.