BROWSE
Detail
Conference Paper
대칭점 검사를 활용한 실내 LiDAR 지면 반사 복원 방법
Cited - time in 
Share 
Share
- Authors
- 황의현, 이재영
- Issue Date
- 2026-02
- Citation
- 한국로봇학회 종합 학술 대회 2026, pp.1-3
- Publisher
- 한국로봇학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- Specular reflections from glossy indoor floors (e.g., coated tiles) severely degrade LiDAR perception systems. These reflections generate ghost points below the actual ground plane, misleading crucial robotics tasks like SLAM and path planning. We present a LiDAR point cloud restoration algorithm to detect and correct these ghost points based on symmetric counterpart validation. Experimental results demonstrate our method effectively restores a dense ground representation while preserving the original topographical information, significantly enhancing LiDAR reliability for indoor autonomous navigation.
- Keyword
- LiDAR Reflection, Ghost Point, Ground Restoration
- KSP Keywords
- Ghost point, Ground Plane(GP), LIDAR point cloud, autonomous navigation, path planning, perception systems, specular reflection