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

Related tags

Artificial Intelligence lidar pointcloud ground-segmentation
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

Image text

Algorithm

Image text

(2) JPC for Refine

Image

Image text

Algorithm

Image text

More detail please check in the paper.

2.How to Use

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

3.Result

(1) RECM

Image text

(2) Dilate

Image text

(3) JPC

Image text

(4) Pointcloud

Image text

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Comments
  • -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
Owner
Wangxu1996
[email protected]
Wangxu1996
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