hmx2013 / cvc-ros

An ROS implementation for paper "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance"

CVC ROS

An ROS implementation of paper "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance"

Features

• New Spatial Primitive. curved-voxel, a LiDAR-optimized spatial unit reflecting distinct characteristics of 3D LiDAR point clouds.
• Algorithm. an efficient method for segmenting 3D LiDAR point clouds by utilizing LiDAR-optimized curved-voxels and efficient hashbased data structure.
• ROS dynamic reconfigure, you can tune the parameters easily.

Reference

• Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance. (IROS) 2019
• https://github.com/wangx1996/Lidar-Segementation
• https://github.com/SS47816/lidar_obstacle_detector

TODOs

• imporove the efficiency of algorithm
• imporove the segmentation accuracy

Known Issues

• the segementation result is not very ideal.

Dependencies

• ground cloud filter: https://github.com/HMX2013/patchwork-VLP16
• sudo apt-get install ros-melodic-jsk-rviz-plugins

How to use

# clone the repo
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/HMX2013/SemanticKITTI_loader
git clone https://github.com/HMX2013/CVC-ROS
download obsdet_msgs from
"https://drive.google.com/file/d/1ztLk9Slm656CV-WJieUpBJPlz-Iw14Bk/view?usp=share_link"
cd ../
catkin_make
roslaunch semantic_kitti run_semantic.launch
roslaunch cvc_ros run_rviz.launch

Contribution

You are welcome contributing to the package by opening a pull-request

We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide

License

MIT License

cvc-ros's Issues

Segmentation Benchmark

Hi, thank you for your nice work!

Would you be willing to compare the segmentation method you've implemented using the OSE and USE proposed by TRAVEL on Semantic KITTI, including TRAVEL itself?

Can this code be used for indoor pedestrian

About obsdet_msgs/CloudCluster.h

First thank you for your work,
I meet this problem hope you can tell me where this "obsdet_msgs/CloudCluster.h" head from?
Error is:fatal error: obsdet_msgs/CloudCluster.h: No such file or director