Exwayz ground classification algorithm aims at detecting ground points using as a prior the trajectory of the sensor, computed using SLAM for instance.

Below is a sample ground classification configuration file.

__profile_name__: "default"

buffer:
    length: 200.0
    extra_length: 20.0
    d_update: 0.50
    use_trajectory_rotation: false
    exhaustive_reprojection: true
	

ground_classification:
    radius_seeds: 2.0
    knn_propagation: 30
    max_normal_angle: 15.0
    max_ptopl_dist: 0.02
    subsampling: 0.04

buffer

ground_classification