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jkk-research / urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗
BSD 3-Clause "New" or "Revised" License
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A question about interval param #21

Open geekfuns opened 1 year ago

geekfuns commented 1 year ago

Hi, thank for you great work!

I have some trouble about the param interval, why it is 0.18?

Is it related to the vertical field of view of lidar?

Hope for your reply , Thanks!

horverno commented 1 year ago

Hi, well i'm not sure @csaplaci maybe?

csaplaci commented 12 months ago

Hi!

Sorry for the late reply...

The laser beams (of each channel) of a typical LiDAR sensor have a constant (vertical) angle between them. This is 2.0 degrees for a Velodyne VLP-16. The parameter corresponds to this value, as it is used to separate the points of each individual channel/beam.

Basically the parameter defines the required "vertical angular gap" between the points to sort them by channels/beams (with the uncertainty/noise kept in mind).

If something is still left unclear, please let me know!