ghost points (unwanted points) in cloud generated

[shubham-shahh]

Hi @versatran01,
Thanks for this awesome package, I have one query, I have mounted Ouster OS0 on top of my quad and I am using this package to generate a point cloud, I am facing an issue where I am seeing points in the cloud just outside the blind zone set (to avoid getting propellers in the cloud)

I have set the min_range param to the radius of my drone to make sure props, prop guards are excluded from the final point cloud. I have placed exact measurements with some margins to incorporate measurement errors still I am seeing points just outside that boundary and they appear randomly. I have also used the OEM driver with box filter and observed similar noisy points, and this happens only when the sensor is mounted on top of the drone, on the bench, the sensor works fine.

have you faced anything similar?

[fcladera]

Any chances these are reflected points in your rotating props?

[shubham-shahh]

Any chances these are reflected points in your rotating props?

Quite possibly, but shouldn't they be ideally inside the radius of the drone and the filter should take care of them?
Also, this happens when the props are not rotating.

[versatran01]

Ouster doesn’t have accurate measurements at low range. It could just be noisy returns.

[shubham-shahh]

Ouster doesn’t have accurate measurements at low range. It could just be noisy returns.

oh okay, but can you point out a few ways to avoid noisy measurements, and if they exist, how to deal with them, I know its a little broad question but based on the situation I described what are your suggestions?

[shubham-shahh]

@fcladera @versatran01 I am curious if you guys faced a similar problem while working on Falcon and the lidar used in Falcon, whats the vertical FOV?

[fcladera]

We used OS1-64-U, 45deg FoV

[shubham-shahh]

We used OS1-64-U, 45deg FoV

okay, thanks a lot for the info