Comments (3)
No..
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Thank you for having interest in our work :)
Unfortunately, I haven't run Patchwork++ on nuScenes yet.
Well, at first, I need to say that it is very difficult for me to say which one directly occurs such result because the picture is not enough to find out the problem. However, I guess that the sparsity of point cloud due to less beams won't let such result since the false positive points(red points) in your picture are dense enough to be estimated as a proper ground plane in my thought. If the divided patch is far from the sensor origin, the sparsity can be a severe factor which results in a poor plane estimation. I can suggest you to check the uprightness, elevation, and flatness values of those wrongly-estimated planes and compares that values to the thresholds of them, respectively.
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@zwqnju, have you succeeded at tuning the parameters for Nuscenes dataset?
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Related Issues (20)
- Confused on update_elevation_ and update_flatness_ HOT 1
- Temporal Ground Revert implementation clarification HOT 4
- ground segmentation issue with nonground points below ground plane HOT 1
- concentric_idx is out-of-bound in function PatchWorkpp::estimateGround HOT 1
- could you upload the paper here? HOT 1
- I cannot run python example code (demo_sequential.py and demo_visualize). I get cannot find pypatchworkpp! HOT 3
- the sensor height change? HOT 1
- Return a binary array indicating ground points using python wrapper HOT 1
- When using 16-beam lidar, there will be false detection at close range HOT 3
- How to refine the performance on my own dataset? HOT 3
- Python example, How to get indices of ground points? HOT 5
- Cannot find pypatchworkpp! HOT 2
- Building on windows HOT 2
- ROS2 Support HOT 2
- I need to modify demo_visualize to read PCD files. How should I do it? HOT 2
- Can this algorithm be applied to visual point clouds? HOT 2
- How to adjust parameters and visualize them in real-time๏ผ HOT 1
- Question about sensor height parameter HOT 2
- Whether I can skip the installation of Open3D of C++ version, if I only want to use the Python binding of Patchwork++ using pybind11? HOT 3
- About ground plane HOT 3
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