{"id":13438003,"url":"https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image","last_synced_at":"2025-03-19T18:31:26.648Z","repository":{"id":38366121,"uuid":"320456844","full_name":"wangx1996/LIDAR-Segmentation-Based-on-Range-Image","owner":"wangx1996","description":"This is a lidar segmentation method based on range image.","archived":false,"fork":false,"pushed_at":"2021-01-22T12:09:31.000Z","size":2438,"stargazers_count":164,"open_issues_count":1,"forks_count":31,"subscribers_count":3,"default_branch":"main","last_synced_at":"2024-10-27T23:24:11.497Z","etag":null,"topics":["3d-point-clouds","lidar-segmentation","range-image"],"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}},"created_at":"2020-12-11T03:29:32.000Z","updated_at":"2024-10-09T11:28:46.000Z","dependencies_parsed_at":"2022-08-09T09:15:43.549Z","dependency_job_id":null,"html_url":"https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image","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%2FLIDAR-Segmentation-Based-on-Range-Image","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FLIDAR-Segmentation-Based-on-Range-Image/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FLIDAR-Segmentation-Based-on-Range-Image/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wangx1996%2FLIDAR-Segmentation-Based-on-Range-Image/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wangx1996","download_url":"https://codeload.github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244483293,"owners_count":20460085,"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-clouds","lidar-segmentation","range-image"],"created_at":"2024-07-31T03:01:02.071Z","updated_at":"2025-03-19T18:31:26.111Z","avatar_url":"https://github.com/wangx1996.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# LIDAR-Segmentation-Based-on-Range-Image\n\n[![build passing](https://img.shields.io/badge/build-passing-brightgreen.svg)](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image)[![velodyne_HDL_32E compliant](https://img.shields.io/badge/velodyne_HDL_32E-compliant-red.svg)](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image)\n\n## This is a lidar segmentation method based on range-image.\n\n## Method\n\n1. The ground remove method is from [\"D. Zermas, I. Izzat and N. Papanikolopoulos, \"Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications,\" 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 5067-5073, doi: 10.1109/ICRA.2017.7989591.\"](https://ieeexplore.ieee.org/document/7989591)\n\n2. The scan line compensation method is from [\"P. Burger and H. Wuensche, \"Fast Multi-Pass 3D Point Segmentation Based on a Structured Mesh Graph for Ground Vehicles,\" 2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, 2018, pp. 2150-2156, doi: 10.1109/IVS.2018.8500552.\"](https://ieeexplore.ieee.org/document/8500552)\n\n3. The range image segmentation method is from [\"I. Bogoslavskyi and C. Stachniss, \"Fast range image-based segmentation of sparse 3D laser scans for online operation,\" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 163-169, doi: 10.1109/IROS.2016.7759050.\"](https://ieeexplore.ieee.org/document/7759050)\n\n4. The hash table method is inspired by [\"S. Park, S. Wang, H. Lim and U. Kang, \"Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance,\" 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 6459-6464, doi: 10.1109/IROS40897.2019.8968026.\"](https://ieeexplore.ieee.org/document/8968026)\n\n5. The process of segmentation is inspired by [\"K. Klasing, D. Wollherr and M. Buss, \"A clustering method for efficient segmentation of 3D laser data,\" 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 4043-4048, doi: 10.1109/ROBOT.2008.4543832.](https://ieeexplore.ieee.org/document/4543832)\n\n6. Thec threshhold method is from [\"Borges, G.A., Aldon, MJ. Line Extraction in 2D Range Images for Mobile Robotics. Journal of Intelligent and Robotic Systems 40, 267–297 (2004). https://doi.org/10.1023/B:JINT.0000038945.55712.65\"](https://link.springer.com/article/10.1023/B:JINT.0000038945.55712.65#citeas)\n\n##### more detail： \n\nhttps://blog.csdn.net/weixin_43885544/article/details/111193386\n\n\n## Code\n\n1.The ground remove code references to the https://github.com/AbangLZU/plane_fit_ground_filter. And I change it to multiplane fitting.\n\n2.The process of segmentation references to the https://github.com/FloatingObjectSegmentation/CppRBNN\n\n## Usage\n    \n    mkdir build\n    cd build\n    cmake ..\n    make\n    ./range forange.pcd\n    \n## Result\n\n### Line compenstation\n![Image text](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Imag/blob/main/image/linecompensation.png)\n\n### Build range image\n![Image text](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Imag/blob/main/image/buildrange.png)\n\n### segmentation\n![Image text](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Imag/blob/main/image/seg.png)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwangx1996%2FLIDAR-Segmentation-Based-on-Range-Image","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwangx1996%2FLIDAR-Segmentation-Based-on-Range-Image","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwangx1996%2FLIDAR-Segmentation-Based-on-Range-Image/lists"}