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https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image
This is a lidar segmentation method based on range image.
https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image
3d-point-clouds lidar-segmentation range-image
Last synced: 5 days ago
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This is a lidar segmentation method based on range image.
- Host: GitHub
- URL: https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image
- Owner: wangx1996
- License: apache-2.0
- Created: 2020-12-11T03:29:32.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2021-01-22T12:09:31.000Z (over 3 years ago)
- Last Synced: 2024-03-11T17:31:40.205Z (4 months ago)
- Topics: 3d-point-clouds, lidar-segmentation, range-image
- Language: C++
- Homepage:
- Size: 2.33 MB
- Stars: 155
- Watchers: 3
- Forks: 31
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Lists
- awesome-stars - wangx1996/LIDAR-Segmentation-Based-on-Range-Image - This is a lidar segmentation method based on range image. (C++)
README
# LIDAR-Segmentation-Based-on-Range-Image
[](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image)[](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image)
## This is a lidar segmentation method based on range-image.
## Method
1. 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)
2. 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)
3. 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)
4. 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)
5. 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)
6. 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)
##### more detail：
https://blog.csdn.net/weixin_43885544/article/details/111193386
## Code
1.The ground remove code references to the https://github.com/AbangLZU/plane_fit_ground_filter. And I change it to multiplane fitting.
2.The process of segmentation references to the https://github.com/FloatingObjectSegmentation/CppRBNN
## Usage
mkdir build
cd build
cmake ..
make
./range forange.pcd
## Result
### Line compenstation
### Build range image
### segmentation
