https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation

A C++ version for "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles" 2018 ITSC
https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation

3d-point-cloud autonomous-vehicles ground-segmentation itsc

Last synced: about 2 months ago
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A C++ version for "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles" 2018 ITSC

• Host: GitHub
• URL: https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation
• Owner: wangx1996
• License: apache-2.0
• Created: 2021-01-14T01:51:30.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2021-07-21T14:23:01.000Z (about 3 years ago)
• Last Synced: 2024-07-01T19:47:51.605Z (3 months ago)
• Topics: 3d-point-cloud, autonomous-vehicles, ground-segmentation, itsc
• Language: C++
• Homepage:
• Size: 1.01 MB
• Stars: 70
• Watchers: 4
• Forks: 16
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Cascaded-Lidar-Ground-Segmentation

[![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)

A 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)

## Introduction

This is an c++ version implementation on the paper "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles".

The origin code is in [Python](https://bitbucket.org/n-patiphon/slope_robust_ground_seg), which is vesry time consuming for runnning one frame.

So I swtich the code to c++ version, but it still very time consuming that cannnot use in real time.

The code still have a lot of parts to improve, if you want to use it, you can change the code to speed up.

#### The workflow

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/flow.png)

## How to use

### Test platform

#### laptop:

    the 7th i5

    Ubuntu 16.04

    pcl 1.8

    OpenCV 3.3

    CMake

    

#### build

    mkdir build

    cd build

    cmake ..

    make

    ./test1 [filename]

    

#### dataset

 

 The data file is also from the paper https://bitbucket.org/n-patiphon/slope_robust_ground_seg

 

## Some Result

### 1. transform the cloud to depth image

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/range.png)

### 2. sections for second segmeantion

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/section2.png)

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/planefitting.png)

### 3. segmentation result

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/ground1.png)

![Image text](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation/blob/main/image/groun2.png)