Fast range image based DBSCAN clustering for 3D LiDAR Point Clouds

An ROS implementation of dbscan clustering of 3D LiDAR point clouds

Reference

• Chen, Zhihui, et al. "Fast-spherical-projection-based point cloud clustering algorithm." Transportation research record 2676.6 (2022): 315-329.

Features

• Faster comparing to traditional dbscan algorithm

TODOs

• imporove the segmentation accuracy

Dependencies

• semantic_kitti_loader
• obsdet_msgs

How to use

# clone the repo
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/HMX2013/SemanticKITTI_loader
git clone https://github.com/HMX2013/FSPC-ROS
download obsdet_msgs from
"https://drive.google.com/file/d/1ztLk9Slm656CV-WJieUpBJPlz-Iw14Bk/view?usp=share_link"
cd ../
catkin_make

roslaunch ri_dbscan run_rviz.launch
roslaunch semantic_kitti run_semantic.launch

Contribution

You are welcome contributing to the package by opening a pull-request

We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide

License

MIT License