{"id":13437990,"url":"https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation","last_synced_at":"2025-03-19T18:31:29.481Z","repository":{"id":113093589,"uuid":"329479372","full_name":"wangx1996/Cascaded-Lidar-Ground-Segmentation","owner":"wangx1996","description":"A C++ version for  \"A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles\" 2018 ITSC","archived":false,"fork":false,"pushed_at":"2021-07-21T14:23:01.000Z","size":1059,"stargazers_count":70,"open_issues_count":1,"forks_count":16,"subscribers_count":4,"default_branch":"main","last_synced_at":"2024-08-01T03:25:26.207Z","etag":null,"topics":["3d-point-cloud","autonomous-vehicles","ground-segmentation","itsc"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/wangx1996.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2021-01-14T01:51:30.000Z","updated_at":"2024-04-02T10:40:56.000Z","dependencies_parsed_at":"2024-01-16T01:28:53.545Z","dependency_job_id":"09a0d7d3-c15f-46a2-bd7d-5a8383d0ad97","html_url":"https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FCascaded-Lidar-Ground-Segmentation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FCascaded-Lidar-Ground-Segmentation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FCascaded-Lidar-Ground-Segmentation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FCascaded-Lidar-Ground-Segmentation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wangx1996","download_url":"https://codeload.github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221729785,"owners_count":16871106,"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":["3d-point-cloud","autonomous-vehicles","ground-segmentation","itsc"],"created_at":"2024-07-31T03:01:01.991Z","updated_at":"2024-10-27T20:30:59.313Z","avatar_url":"https://github.com/wangx1996.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# Cascaded-Lidar-Ground-Segmentation\n\n[![build passing](https://img.shields.io/badge/build-passing-brightgreen.svg)](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation) [![velodyne64 compliant](https://img.shields.io/badge/velodyne64-compliant-red.svg)](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation)\n\nA C++ version for [P. Narksri, E. Takeuchi, Y. Ninomiya, Y. Morales, N. Akai and N. Kawaguchi, \"A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles,\" 2018 21st International Conference on Intelligent Transportation Systems (ITSC)](https://ieeexplore.ieee.org/document/8569534)\n\n## Introduction\n\nThis is an c++ version implementation on the paper \"A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles\".\n\nThe origin code is in [Python](https://bitbucket.org/n-patiphon/slope_robust_ground_seg), which is vesry time consuming for runnning one frame.\n\nSo I swtich the code to c++ version, but it still very time consuming that cannnot use in real time.\n\nThe code still have a lot of parts to improve, if you want to use it, you can change the code to speed up.\n\n#### The workflow\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/flow.png)\n\n\n## How to use\n\n### Test platform\n\n#### laptop:\n\n    the 7th i5\n    Ubuntu 16.04\n    pcl 1.8\n    OpenCV 3.3\n    CMake\n    \n#### build\n\n    mkdir build\n    cd build\n    cmake ..\n    make\n    ./test1 [filename]\n    \n#### dataset\n \n The data file is also from the paper https://bitbucket.org/n-patiphon/slope_robust_ground_seg\n \n## Some Result\n\n### 1. transform the cloud to depth image\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/range.png)\n\n### 2. sections for second segmeantion\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/section2.png)\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/planefitting.png)\n\n\n### 3. segmentation result\n\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/ground1.png)\n\n![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/groun2.png)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwangx1996%2FCascaded-Lidar-Ground-Segmentation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwangx1996%2FCascaded-Lidar-Ground-Segmentation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwangx1996%2FCascaded-Lidar-Ground-Segmentation/lists"}