lidar-object-clustering-and-ground-remove's Introduction

激光雷达障碍物检测和聚类

参考论文： Efficient Online Segmentation for Sparse 3D Laser Scans ;

其中包含地面分割代码 my_ransac

依赖安装 install dependence :

numpy

python-pcl（安装参考python-pcl的Github,如果不需要可视化可以不安装，注释掉相应代码即可）

运行 run

直接运行 image_range_cluster_v2.py 即可； python image_range_cluster_v2.py

需完善 TODO :

1 运行时间较长（~2s），需优化，论文提到只需要20ms,差距还很大；

2 目标聚类效果还有待提高，存在把同一个物体分割成几个部分的情况，论文好像也存在这种情况；

3 RANSAC 地面分割效果还存在一些问题，针对某些特殊情况会出现漏掉部分地面或者分割出墙面；

4 需要对检测出来的物体做一个立体框，同时计算出目标的尺寸；

效果图

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