How do I remove noise from point cloud data?

Hi, everyone.

There's some pedestrian noise in the point cloud data measured with LiDAR that's disturbing me.

I'd like to know how to get rid of this noise successfully.

Answer 1

[Constantino Carlos Reyes-Aldasoro]

Hello

It is very difficult to answer a question like this one, it may be that some filtering could solve your problem, but it depends on the data. If you can add some illustrations it will be easier to proceed.

[Motoki Hatsuda]

Thank you for your reply.

First of all, run the following code to read the pcd file.

ptCloud=pcread(filename)
pcshow(ptCloud)

Next you will see the following image.

This is point cloud data observed in the city, which shows that there is human noise.

The only way I know of to remove points is to specify a rectangular area to remove these.

However, this method removes all points and erases even unwanted points, which is quite inconvenient!

So I would like to know another smart way to do this!

[Constantino Carlos Reyes-Aldasoro]

This looks rather difficult! From the box that you selected are there any points you want to keep and were removed? Do you want to keep those points that are not humans, like the regions on the top left and right? Is this a video sequence or a single frame?

[Motoki Hatsuda]

I want to delete only the pedestrian points. However, it is quite difficult to eliminate only pedestrian noise with the functions provided, and some of the structures are also eliminated! This is a sigle frame.

[Motoki Hatsuda]

OK. I know it's very difficult question.