Removing unwanted noise from Lidar Point Cloud

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Created May ’21

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Please suggest ways to remove the unwanted noise from the point cloud generated by the LiDAR scan.
Or how can one smoothen out the LiDAR scan result using ARKit plane detection?

Answered by DTS Engineer in 676192022

This sample project (https://developer.apple.com/documentation/arkit/environmental_analysis/displaying_a_point_cloud_using_scene_depth) demonstrates 3 distinct features that can result in a smoother result:

Filter based on the confidence level using the confidenceMap
Request and use smoothedSceneDepth instead of sceneDepth
Use a guided filter to upsample the depth map based on the rgb data.

I recommend that you download that sample project, and experiment with various confidence levels, smoothedSceneDepth vs. sceneDepth, and guided filter usage to see if you can arrive at a result that you find acceptable.

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DTS Engineer OP

Apple

May ’21

Accepted Answer

This sample project (https://developer.apple.com/documentation/arkit/environmental_analysis/displaying_a_point_cloud_using_scene_depth) demonstrates 3 distinct features that can result in a smoother result:

Filter based on the confidence level using the confidenceMap
Request and use smoothedSceneDepth instead of sceneDepth
Use a guided filter to upsample the depth map based on the rgb data.

I recommend that you download that sample project, and experiment with various confidence levels, smoothedSceneDepth vs. sceneDepth, and guided filter usage to see if you can arrive at a result that you find acceptable.

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