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UnknownFreeOccupied / ufomap

UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
https://unknownfreeoccupied.github.io/
BSD 2-Clause "Simplified" License
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how to model ground target exactly #12

Open HeXu1 opened 1 year ago

HeXu1 commented 1 year ago

Hi,Dr. Daniel: Thanks for the great work. I read your paper and code carefully. And I use ufomap for statically placed laser data. Ground data is always incorrectly modeled as free space.I've been working on probability plots for a while now. I think It should be caused by the high-frequency observation space with a relatively small overlooking angle. the following is my test result, Red is the original data, blue is the ufomap result.Distant ground disappears clearly. Hope for your reply, best wishes. image

HeXu1 commented 1 year ago

Do you have a good suggestion to solve this problem?thanks.