Table 1.

The parameter list of the urban road filter.

Param Name	Function	Type	(Interval)/Default
fixed_frame	The fixed frame from the transform list in ROS.	String	String
topic_name	The name of the LIDAR topic.	String	String
x_zero_method	A flag indicating whether the X-zero method is enabled.	Bool	(True-False)/True
z_zero_method	A flag indicating whether the Z-zero method is enabled.	Bool	(True-False)/True
star_shaped_method	A flag indicating whether the star-shaped method is enabled.	Bool	(True-False)/True
blind_spots	Filtering blind spots.	Bool	(True-False)/True
x_direction	Filtering x direction. Positive means in front of the LIDAR.	Both/ positive/negative	Both
interval	LIDAR’s vertical resolution.	Double	(0–10)/0.18
curb_height	Estimated minimum height of the curb (m).	Double	(0–10)/0.05
curb_points	Estimated number of points on the curb (pcs).	Int	(1–30)/5
beam_zone	Width of the beam zone (deg).	Double	(10–100)/30
cylinder_deg_x	The included angle of the examined triangle (three points) (deg) in x_zero_method.	Double	(0–180)/150
cylinder_deg_z	The included angle of the examined triangle (two vectors) (deg) in z_zero_method.	Double	(0–180)/140
sector_deg	Radial threshold (deg) in star_shaped_method.	Double	(0–180)/50
min_x,max_x,min_y,max_y,min_z,max_z	Size of the examined area x, y, z (m).	Double	(−200–200)/30
dmin_param	Minimum number of points for dispersion.	Int	(3–30)/10
kdev_param	Dispersion coefficient	Double	(0.5–5)/1.1225
kdist_param	Distance coefficient.	Double	(0.4–10)/2