smallmunich / floorsegmentation

Ground Segmentation, Floor Segmentation

FloorSegmentation

This Code Is From The Paper: Fast Segmentation of 3D Point Clouds for Ground Vehicles(2010 IEEE Intelligent Vehicles Symposium)

Implementation of the ground segmentation algorithm proposed in

@inproceedings{himmelsbach2010fast,
  title={Fast segmentation of 3d point clouds for ground vehicles},
  author={Himmelsbach, Michael and Hundelshausen, Felix V and Wuensche, H-J},
  booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE},
  pages={560--565},
  year={2010},
  organization={IEEE}
}

This Code Is From The Paper: Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications(2017 IEEE ICRA)

Implementation of the ground segmentation algorithm proposed in

@inproceedings{himmelsbach2010fast,
  title={Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications},
  author={D. Zermas, I. Izzat and N. Papanikolopoulos},
  booktitle={International Conference on Robotics and Automation (ICRA), 2017 IEEE},
  pages={5067--5073},
  year={2017},
  organization={IEEE}
}

This Code Is From The Paper: Gaussian-Process-Based Real-Time Ground Segmentation for Autonomous Land Vehicles

Implementation of the ground segmentation algorithm proposed in

@inproceedings{ 
title={Gaussian-Process-Based Real-Time Ground Segmentation for Autonomous Land Vehicles[J]},
author={Chen T , Dai B , Wang R , et al.},
booktitle={Journal of Intelligent and Robotic Systems}, 
year={2014}, 
pages={76(3-4):563-582}
}

How To Use

Here are two folders, every folder have its floor segmentation algorithm. You can enter each folder, build it with cmake.

How To Build

 cd build 
 cmake ..
 make 

It's All.

How To Run

Go Into the binary cmake output file, open the terminal

./XXX

And Then, You Can Find new pcd Files In The Build File.

Visualize Floor & Not-Floor Point Cloud.

More Details Write In Blog Address

• analyze this algorithm: https://blog.csdn.net/Small_Munich/article/details/108086888

• analyze this algorithm: https://blog.csdn.net/Small_Munich/article/details/108630533

floorsegmentation's Issues

License

Hi @SmallMunich, @zeyawu, thank you for creating this! I was hoping to use and cite your code for a research project. I noticed the repo had no license, so I wanted to confirm if this was ok with both of you before proceeding. Thanks!