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PointCloud -> Tuple<GroundPointCloud, ObstaclePointCloud>
Separate 3D LiDAR points into ground and non-ground subsets by analyzing local radial gradient changes of consecutive points.
Problem it solves
Raw point clouds include the road surface, which must be filtered out to isolate physical obstacles.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.