Computree Documentation

Statistical Outlier Filter

Plugin : SimpleForest
Nom de classe : SF_StepStatisticalOutlierRemoval

Description

Statistical Outlier Filter - Frontend to PCL filter. This step detects noise by analysing the density of each points neighborhood. Regions containing a small amount of point are likely to be tagged as noise. Can be repeated iteretivaly. A really high number of iterations (~50) combined with a high standard deviation multiplier (>= 4) performs most robust.

Paramètres

Paramètres de pré-configuration (non modifiables une fois l'étape ajoutée) :

  • Uncheck to deactivate parameterization possibilities of this step. Only recommended for beginners: Activé.

Paramètres de l'étape :

  • Looks for each point at its [n]: 2 closest neighbors.


The average distance to the neighbor points is computed for each point.
  • Assuming a normal distribution for all distances, all points further away from the average distance than [factor]: 4.0000 .


times the standarddeviation of the average distance are considered noise. As the point distribution changes after an execution, the procedure can be repeated multiple times.
  • Please select the number of [iterations]: 15 for the procedure.


Please excuse potential double citation with the step related citation for the

following general citation for SimpleForest (work on updated citable resource ongoing):





A majority of implementations are based on PCL library:





------------------------------------------------------------------------------

Données d'entrée

Structure des données d'entrée recherchées :

Result : Point Cloud
    ...
        Group to be denoised (Group)
            Cloud to be denoised (Item with points)

Références

Hackenberg Jan, Spiecker Heinrich, Calders Kim, Disney Mathias, Raumonen Pasi. 2015. SimpleTree - an efficient open source tool to build tree models from TLS clouds. Multidisciplinary Digital Publishing Institute. Forests.
Rusu Radu Bogdan, Cousins Steve. 2011. 3d is here: Point cloud library (pcl). IEEE. Robotics and Automation (ICRA), 2011 IEEE International Conference on.