horverno
commented
2 years ago hi @ywfwyht
The TLDR answer is try enable star_shaped_search only and theoretically it will work but not as robust as all 3 algorithms enabled.
Let me cite the paper:
The solution encompasses three methods of sidewalk detection (star-shaped search method, X-zero, and Y-zero methods), a road detection method, and a 2D polygon-based road extraction. ... Star-Shaped Search Method This method divides the point cloud into rectangular-shaped segments. The combination of these shapes resembles a star; this is where the name originates. From each segment the possible sidewalk starting points are extracted, where the algorithm was created to not be sensitive to the Z-coordinate-based height variations. This means in practice that this algorithm would perform well even when a LIDAR is tilted with respect to the road surface plane. The point cloud is treated in the cylindrical coordinate system (see Figure 2). ... A new type of LIDAR, called solid-state technology is getting higher interest in the scientific community [41,42]. Although these sensors have not yet been fully commercialized, they promise a higher operational life and low power. They also produce structured 3D information but are organized differently. As a further limitation, the proposed method does not support this technology. The 3D data from the solid-state technology are not in the classical channel-based organization, thus our method cannot calculate the channel-based sliding window, on which the later steps rely. As mentioned, there are several limitations regarding our method. In addition, concatenating two traditional spinning LIDAR data produces a similar result. Concatenating multiple LIDAR streams is quite common, thus this is a more serious limitation. The concatenated LIDAR data from the method point of view resemble the solid-state data. The current method is not able to identify classic channel information.
ywfwyht
hi bro!
Does the algorithm support solid-state lidar? the solid-state lidar has no ring information.