Table of contents
1. Algorithm principle
1 Overview
This algorithm is the latest SCI paper published in 2022: Design of Dust-Filtering Algorithms for LiDAR Sensors Using Intensity and Range Information in Off-Road Vehicles † It is proposed in the article that it can be used for automatic driving point cloud to eliminate dust, rain and snow caused by factors such as Noise point filtering algorithm.
2. Implementation process
Statistics can remove most of the snow spots, but cannot remove densely gathered snow spots. The radius filter showed better performance in snow removal overall, but it excluded all important information in the environment beyond 18 meters from the lidar sensor. This is because the lidar point cloud becomes sparser as the distance from the sensor increases, while the search radius in the radius filter remains constant. To solve this problem, a DROR filter is developed in this paper, whose search radius varies proportionally with the distance from the lidar sensor, as shown in formula (2).