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strawlab / python-pcl

Python bindings to the pointcloud library (pcl)
http://strawlab.github.com/python-pcl/
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Problem of ransac ground plane segmentation for lidar data #229

Open Jaiy opened 6 years ago

Jaiy commented 6 years ago

I want to use the ransac algorithm to segment the ground plane lidar rings, I use the python-pcl to do that, but I got the false results as the pictures showed below.

As we known, the lidar data has many rings of the ground plane, it can't find the right plane of the ground, but it found the plane above the ground. The reason I can guess is that maybe the ground of lidar is very sparse, and the plane above the ground has the points numbers more than the ground, so the algorithm find the false results. For my own data, here I don't use the passthrough_filter before using the make_segmenter()

It's uncertain whether is the problem I guessed, so if anyone met the problem before, please tell me. And I don't know how to solve the problem, there is few information about the lidar rings segmentation, does anyone know how to solve it?

And is there other methods to do the lidar ground segmentation which I can get the code?

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Jaiy commented 6 years ago

@astraw Could you please give me some suggestions? Thanks a lot!

niranjanreddy891 commented 6 years ago

@Jaiy, May I know which file format you are using?

Jaiy commented 6 years ago

@niranjanreddy891 Hi, I used the .pcd file(binary compressed) for testing, I have found the problem and solved them, the main problem is that our data is too noisy. Thank you for your replying.

niranjanreddy891 commented 6 years ago

Nice. :) Please have a look at this library