LIDAR-Segmentation-Based-on-Range-Image

This is a lidar segmentation method based on range-image.

Method

1. The ground remove method is from "D. Zermas, I. Izzat and N. Papanikolopoulos, "Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 5067-5073, doi: 10.1109/ICRA.2017.7989591."

2. The scan line compensation method is from "P. Burger and H. Wuensche, "Fast Multi-Pass 3D Point Segmentation Based on a Structured Mesh Graph for Ground Vehicles," 2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, 2018, pp. 2150-2156, doi: 10.1109/IVS.2018.8500552."

3. The range image segmentation method is from "I. Bogoslavskyi and C. Stachniss, "Fast range image-based segmentation of sparse 3D laser scans for online operation," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 163-169, doi: 10.1109/IROS.2016.7759050."

4. The hash table method is inspired by "S. Park, S. Wang, H. Lim and U. Kang, "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 6459-6464, doi: 10.1109/IROS40897.2019.8968026."

5. The process of segmentation is inspired by "K. Klasing, D. Wollherr and M. Buss, "A clustering method for efficient segmentation of 3D laser data," 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 4043-4048, doi: 10.1109/ROBOT.2008.4543832.

6. Thec threshhold method is from "Borges, G.A., Aldon, MJ. Line Extraction in 2D Range Images for Mobile Robotics. Journal of Intelligent and Robotic Systems 40, 267–297 (2004). https://doi.org/10.1023/B:JINT.0000038945.55712.65"

more detail：

https://blog.csdn.net/weixin_43885544/article/details/111193386

Code

1.The ground remove code references to the https://github.com/AbangLZU/plane_fit_ground_filter. And I change it to multiplane fitting.

2.The process of segmentation references to the https://github.com/FloatingObjectSegmentation/CppRBNN

Usage

mkdir build
cd build
cmake ..
make
./range forange.pcd

Result

Line compenstation

Build range image

segmentation