Adaptive Clustering: A lightweight and accurate point cloud clustering method

Changelog

• [Apr 14, 2022]: Two new branches, gpu and agx, have been created for GPU-based implementations:

  • gpu is based on PCL-GPU and has been tested with an NVIDIA TITAN Xp.
  • agx is based on CUDA-PCL and has been tested with an NVIDIA Jetson AGX Xavier.

• [Feb 25, 2019]: A new branch, devel, faster (by downsampling) and better (by merging clusters split by nested regions and on the z-axis).

How to build

cd ~/catkin_ws/src/
git clone https://github.com/yzrobot/adaptive_clustering.git
cd ~/catkin_ws
catkin_make

Citation

If you are considering using this code, please reference the following:

@article{yz19auro,
   author = {Zhi Yan and Tom Duckett and Nicola Bellotto},
   title = {Online learning for 3D LiDAR-based human detection: Experimental analysis of point cloud clustering and classification methods},
   journal = {Autonomous Robots},
   year = {2019}
}