lidar_obstacle_detector

3D LiDAR Object Detection & Tracking using Euclidean Clustering & Hungarian algorithm

Features

Segmentation of ground plane and obstacle point clouds
Customizable Region of Interest (ROI) for obstacle detection
Customizable region for removing ego vehicle points from the point cloud
Tracking of obstacles between frames using IOU gauge and Hungarian algorithm
In order to help you tune the parameters to suit your own applications better, all the key parameters of the algorithm are controllable in live action using the ros param dynamic reconfigure feature

TODOs

LiDAR pointcloud motion undistortion
Drive Space/Kurb Segmentation
Refine PCA Bounding Boxes by L-Shape fitting
Add trackers such as UKF

Known Issues

PCA Bounding Boxes might not be accurate in certain situations

Dependencies

autoware-msgs
jsk-recognition-msgs

Installation

# clone the repo
cd catkin_ws/src
git clone https://github.com/SS47816/lidar_obstacle_detector.git

# install dependencies & build 
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

Usage

1. (Easy) Use this pkg with ROS Bags (`mai_city` dataset as an example here)

Step 1: Download the mai_city dataset from their Official Website

Step 2: Launch the nodes using the mai_city.launch launch file

# this will launch the obstacle_detector node, rviz, and rqt_reconfigure GUI together
roslaunch lidar_obstacle_detector mai_city.launch

Step 3: Run any of the bags from the dataset

# go to the folder where the dataset is located
cd mai_city/bags
# play the rosbag
rosbag play 00.bag

2. Use this pkg with LGSVL Simulator (with the help of the `lgsvl_utils` pkg)

Step 1: Launch the LGSVL simulator and lgsvl_utils nodes

Please refer this step to the README Usage Section of the lgsvl_utils pkg

Step 2: Launch the nodes using the launch/lgsvl.launch launch file

# launch node
roslaunch lidar_obstacle_detector lgsvl.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

jnhuanghao / lidar_obstacle_detector Goto Github PK