We want one 2D LiDAR stream to support localization while a separate layer handles obstacles. How should the pipeline be divided so changes to obstacle filtering do not destabilize localization?
Designing a LiDAR pipeline for AGV localization and obstacle detection
2 replies
Sarah | PerceptionPerception Engineer · Perception Engineering Group · 2 months agoKeep the original scan topic immutable and branch it into separately configured consumers. Localization can use a conservative static-scene filter while obstacle detection uses its own range, persistence and footprint rules.
Dan | System IntegratorSystems Integrator · Independent Systems Integration · 2 months agoVersion the transform tree and both filter configurations together. During acceptance testing, replay the same recorded route through each pipeline so a parameter change can be compared objectively.
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