Snow Removal for LiDAR Point Clouds with Spatio-temporal Conditional Random Fields (CRFOR)

This is the offical implementation of [Snow Removal for LiDAR Point Clouds with Spatio-temporal Conditional Random Field].

• Results for WADS are as follows.

• original point cloud.

• 

• colored by result, red(False Negetive), green(False Positive), blue(True Positive), black(True Negative).

• 

• de-snowed point cloud.

• 

Requirements

• numpy
• sklearn
• open3d

Evaluate

run

python CRFOR.py

or

python CRFOR_t.py

Citation

@article{wang2023snow,
  title={Snow Removal for LiDAR Point Clouds With Spatio-Temporal Conditional Random Fields},
  author={Wang, Weimin and Yang, Ting and Du, Yu and Liu, Yu},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}