An implementation on Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process.

Overview

Fast-Ground-Segmentation-Based-on-JPC

build passing velodyne_HDL_64 compliant

An implementation on "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. https://doi.org/10.3390/rs13163239"

1.Priciple of Algorithm

(1) RECM for Coarse Ground Segmentation

Image

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Algorithm

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(2) JPC for Refine

Image

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Algorithm

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More detail please check in the paper.

2.How to Use

mkdir build
cd build
make -j
./main your lidarfile

3.Result

(1) RECM

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(2) Dilate

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(3) JPC

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(4) Pointcloud

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Issues
  • -std=c++11 in CMakeLists.txt causes errors

    -std=c++11 in CMakeLists.txt causes errors

    In order to build the code successfully I had to replace -std=c++11 by -std=c++14. I had to do this inside

    Fast-Ground-Segmentation-Based-on-JPC/code/CMakeLists.txt

    as well as inside the ROS package

    Fast-Ground-Segmentation-Based-on-JPC/jpc_seg/CMakeLists.txt

    in case somebody stumbles across the same issue.

    opened by marcelbrucker 0
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