• Corpus ID: 237513664

DSOR: A Scalable Statistical Filter for Removing Falling Snow from LiDAR Point Clouds in Severe Winter Weather

@article{Kurup2021DSORAS,
  title={DSOR: A Scalable Statistical Filter for Removing Falling Snow from LiDAR Point Clouds in Severe Winter Weather},
  author={Akhil Kurup and Jeremy P. Bos},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.07078}
}
For autonomous vehicles to viably replace human drivers they must contend with inclement weather. Falling rain and snow introduce noise in LiDAR returns resulting in both false positive and false negative object detections. In this article we introduce the Winter Adverse Driving dataSet (WADS) collected in the snow belt region of Michigan’s Upper Peninsula. WADS is the first multi-modal dataset featuring dense point-wise labeled sequential LiDAR scans collected in severe winter weather; weather… 

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