LIDAR sensor filters

This project provides 2 filters for reducing the noise in a LIDAR sensor scan.

Prerequisites and setup

Python 2.7 is required to run these filters. To use these filters, copy the filters directory into your project and import the filter classes like:

from filters.tm_filter import TemporalMedianFilter
from filters.range_filter import RangeFilter

See the main.py for usage example.

Initializing

Instantiate the RangeFilter and TemporalMedianFilter objects to create the filters. Pass the LIDAR sensor scan data to the update methods of each filter to clean the noisy updates.

Running the unittests

For running correctness test, I am using unittest from the standard python library The unit test cases can be run from the project root directory (LIDAR Filter) using

python2 -m unittest discover -s ./tests -v

Author: Sai Harshavardhan Bachina