Do you know how to remove some points from point cloud data?

Hello, everyone.

I am a MATLAB newbie!

There is noise in the point cloud data observed by lidar, and I want to remove it somehow, but I don't know how.　

Is there any way to do this?

Answer 1

[Cris LaPierre]

Perhaps the pcdenoise function? Go through the examples on that page to see if it does what you want.

[Motoki Hatsuda]

Thank you your reply. Can I use this function to remove specific noises such as pedestrians?

[Cris LaPierre]

This function removes outliers in your point cloud. If you pedestrians are outliers, then yes, but on its own, it won't know what is a pedestrian vs what is not.

[Motoki Hatsuda]

Sorry for the late reply.

I don't understand what outliers are, is the pedestrian noise in the image below outliers?

[Cris LaPierre]

It's hard to say by looking at your image. The easiest way to find out would be to try it out and see if the results are what you need.

Outliers tend to be noise/spurious data, and not valid but unwanted data, like the pedestrians here. My suspicion is that, if you want to remove a certain type of object from your point cloud, you probably have to first identify the various obejcts in your point cloud, and then remove the ones you do not want.

This is not an area I hvae a lot of experience, so perhaps pointing you to this eample can serve as a starting point?

https://www.mathworks.com/help/lidar/ug/semantic-segmentation-using-squeezesegv2-network.html

[Motoki Hatsuda]

Thank you your advice.