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RANSAC Ground Filter#

Purpose#

The purpose of this node is that remove the ground points from the input pointcloud.

Inner-workings / Algorithms#

Apply the input points to the plane, and set the points at a certain distance from the plane as points other than the ground. Normally, whn using this method, the input points is filtered so that it is almost flat before use. Since the drivable area is often flat, there are methods such as filtering by lane.

Inputs / Outputs#

This implementation inherits autoware::pointcloud_preprocessor::Filter class, please refer README.

Parameters#

Node Parameters#

This implementation inherits autoware::pointcloud_preprocessor::Filter class, please refer README.

Core Parameters#

Name Type Description Default Range
base_frame string base_link frame base_link N/A
unit_axis string The axis which we need to search ground plane z N/A
max_iterations integer The maximum number of iterations 1000 N/A
min_trial integer min_trial 5000 N/A
min_points integer min_points 1000 N/A
outlier_threshold float The distance threshold to the model [m] 0.01 N/A
plane_slope_threshold float The slope threshold to prevent mis-fitting [deg] 10.0 N/A
voxel_size_x float voxel size x [m] 0.04 N/A
voxel_size_y float voxel size y [m] 0.04 N/A
voxel_size_z float voxel size z [m] 0.04 N/A
height_threshold float The height threshold from ground plane for no ground points [m] 0.01 N/A
debug boolean whether to output debug information false N/A
publish_processing_time_detail boolean publish_processing_time_detail false N/A

Assumptions / Known limits#

  • This method can't handle slopes.
  • The input points is filtered so that it is almost flat.

(Optional) Error detection and handling#

(Optional) Performance characterization#

https://pcl.readthedocs.io/projects/tutorials/en/latest/planar_segmentation.html

(Optional) Future extensions / Unimplemented parts#