I'm having an issue with some spurious points appearing in the point clouds coming from my 3D lidar.
More specifically, I'm working with an RS-Bpearl lidar, and the point clouds that I receive from it are mostly correct, except for obstacle edges that get "stretched" towards the background objects.
In result, the foreground objects appear to be fused with the background, creating spurious obstacles behind them. Below is the illustration that I made using rviz:
Here, the frame of the lidar is shown with the RGB arrows, the lidar is positioned ~1.2 meters above the floor, with central axis oriented horizontally. Groups of problematic points are marked by green circles, you may see them form "dents" on the floor surface. These appear right at the shadows of the two large objects on the left and right of the robot, while in reality the floor there is flat.
Is this a normal effect for lidars, coming from the failure to distinguish the strongest return? Or may it be a result of some smoothing applied to the data, prior to converting it to a point cloud?
I would appreciate any suggestions about the nature of this effect and ways to compensate for it effectively.