{"id":22631684,"url":"https://github.com/ansonhex/kdtree-obstacle-detection","last_synced_at":"2025-03-29T04:20:49.142Z","repository":{"id":251111410,"uuid":"836426716","full_name":"ansonhex/KDTree-Obstacle-Detection","owner":"ansonhex","description":null,"archived":false,"fork":false,"pushed_at":"2024-08-04T22:44:42.000Z","size":24207,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-02-03T14:13:14.965Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ansonhex.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-31T20:30:53.000Z","updated_at":"2024-08-04T22:44:45.000Z","dependencies_parsed_at":"2024-08-01T00:41:02.606Z","dependency_job_id":null,"html_url":"https://github.com/ansonhex/KDTree-Obstacle-Detection","commit_stats":null,"previous_names":["ansonhex/kdtree-obstaccle-detection"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ansonhex%2FKDTree-Obstacle-Detection","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ansonhex%2FKDTree-Obstacle-Detection/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ansonhex%2FKDTree-Obstacle-Detection/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ansonhex%2FKDTree-Obstacle-Detection/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ansonhex","download_url":"https://codeload.github.com/ansonhex/KDTree-Obstacle-Detection/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246136593,"owners_count":20729197,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-12-09T02:10:50.595Z","updated_at":"2025-03-29T04:20:49.108Z","avatar_url":"https://github.com/ansonhex.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# KDTree Obstacle Detectcion\n\n\n![detecion workflow](assets/workflow.gif)\nThis is an exploration using KDTree for obstacle detection with PCD (Point Cloud DAta) using Python. It includes a simple implementation of a KDTree class along with various preprocessing techniques and comparisons with other search methods.\n\n## Requirement\n\n* Python Version: `3.11.*`\n* Install dependencies from `requreiments.txt`\n\n```sh\npip install -r requirements.txt\n```\n\n## Explored\n\n* Simple KDTree class implementation\n* Obstacle detection using KDTree\n* Preprocessing techniques:\n  * Grid voxel filter\n  * Plane segmentation\n* Basic workflow of obstacle detection\n* Comparison with Grid-based nearest search\n\n## Reference\n\n* Inspired by [ikd-Tree](https://github.com/hku-mars/ikd-Tree)\n* LiDAR PCD Data \u0026 Preprocessing  Techniques from [Lidar-Obstacle-Detection](https://github.com/olpotkin/Lidar-Obstacle-Detection)\n\n```\n@article{cai2021ikd,\n  title={ikd-Tree: An Incremental KD Tree for Robotic Applications},\n  author={Cai, Yixi and Xu, Wei and Zhang, Fu},\n  journal={arXiv preprint arXiv:2102.10808},\n  year={2021}\n}\n```\n\n## LICENSE\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fansonhex%2Fkdtree-obstacle-detection","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fansonhex%2Fkdtree-obstacle-detection","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fansonhex%2Fkdtree-obstacle-detection/lists"}