GithubHelp home page GithubHelp logo

harshit0803 / groundgrid_lidar Goto Github PK

View Code? Open in Web Editor NEW

This project forked from dcmlr/groundgrid

0.0 0.0 0.0 14.5 MB

Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

Home Page: https://ieeexplore.ieee.org/document/10319084

License: BSD 3-Clause "New" or "Revised" License

C++ 68.00% Python 26.39% CMake 5.61%

groundgrid_lidar's Introduction

Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

This repository contains the source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation" published in the IEEE Robotics and Automation Letters (DOI: 10.1109/LRA.2023.3333233).

Ground segmentation results

Dependencies

  • ROS Noetic Ninjemys
  • catkin
  • roscpp
  • geometry_msgs
  • sensor_msgs
  • std_msgs
  • message_generation
  • message_runtime
  • velodyne_pointcloud
  • nodelet
  • dynamic_reconfigure
  • grid_map_core
  • grid_map_ros
  • grid_map_cv
  • grid_map_loader
  • grid_map_msgs
  • grid_map_rviz_plugin
  • grid_map_visualization
  • cv_bridge
  • pcl_ros

Build

catkin build -DCMAKE_BUILD_TYPE=Release groundgrid

Launch

Playback

roslaunch groundgrid KITTIPlayback.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0

The launch file opens a RViz window which displays the segmentation results:

SemanticKitti playback Rviz window

Ground Segmentation Evaluation

roslaunch groundgrid KITTIEvaluate.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0

This launch file evaluates the ground segmentation performance of GroundGrid and displays the results every 500 processed clouds. The final results are displayed upon receiving Ctrl+C in the terminal:

Stats
Received 4540 point clouds. KITTI sequence 00.
label			nonground %	ground %	nonground	total
unlabeled		88.74%		11.26%		6512861		7339364
outlier			42.51%		57.49%		121616		286056
car			94.42%		5.58%		43078880	45622648
bicycle			89.85%		10.15%		200919		223610
motorcycle		95.39%		4.61%		500522		524684
truck			97.61%		2.39%		416124		426308
other-vehicle		96.34%		3.66%		1199946		1245564
person			95.95%		4.05%		68227		71104
bicyclist		100.00%		0.00%		5		5
motorcyclist		0.00%		100.00%		0		8
road			0.07%		99.93%		68465		95649669
parking			0.45%		99.55%		37828		8450594
sidewalk		0.91%		99.09%		716154		78601664
other-ground		6.43%		93.57%		192		2985
building		97.33%		2.67%		117586234	120810401
fence			88.91%		11.09%		15821127	17793867
other-structure		89.92%		10.08%		713791		793778
lane-marking		0.16%		99.84%		171		109456
vegetation		93.43%		6.57%		121595505	130139604
trunk			97.88%		2.12%		4495649		4592878
terrain			6.68%		93.32%		1939107		29038187
pole			98.14%		1.86%		1819715		1854290
traffic-sign		99.87%		0.13%		248254		248565
other-object		89.59%		10.41%		4577201		5109077
moving-car		96.48%		3.52%		245225		254183
moving-bicyclist	98.23%		1.77%		155263		158054
moving-person		96.51%		3.49%		85024		88099
moving-motorcyclist	94.68%		5.32%		2011		2124
moving-bus		98.26%		1.74%		902		918
moving-other-vehicle	94.24%		5.76%		34090		36175
Precision		96.05%		209090638	8607231
Recall			98.70%		209090638	2761917
F1			97.35%		8607231		2761917
Accuracy		97.24%		400339747	411708895
IoUg			94.84%

groundgrid_lidar's People

Contributors

nussknacker avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    ๐Ÿ–– Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. ๐Ÿ“Š๐Ÿ“ˆ๐ŸŽ‰

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google โค๏ธ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.