fastseg

Getting Started

Clone the repository into your catkin workspace:

git clone https://github.com/shrijitsingh99/fastseg

Launch the node and rviz:

roslaunch fastseg fastseg.launch

Subscribed Topics	Message Type	Description
/cloud_in	sensor_msgs/PointCloud2	LiDAR pointcloud data

Published Topics	Message Type	Description
/all_points	sensor_msgs/PointCloud2	LiDAR input point clouds
/ground	sensor_msgs/PointCloud2	Filtered ground points
/no_ground	sensor_msgs/PointCloud2	Filtered non ground points
/beams	visualization_msgs/Marker	Visualization of LiDAR beams as well as road direction

Progress

• Ground plane segmentation
• Multi-plane fitting
• Bottom layer beam model
• Top layer beam model
• Curb detection
• Road segmentation

References

@inproceedings{Zermas2017Fast,
  title={Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications},
  author={Zermas, Dimitris and Izzat, Izzat and Papanikolopoulos, Nikolaos},
  booktitle={IEEE International Conference on Robotics and Automation},
  year={2017},
}

@article{Zhang2018RoadSeg,
  title={Road-Segmentation-Based Curb Detection Method for Self-Driving via a 3D-LiDAR Sensor},
  author={Yihuan Zhang, Jun Wang, Xiaonian Wang and John M. Dolan},
  journal={IEEE Transactions on Intelligent Transportation Systems (Volume: 19, Issue: 12, Dec. 2018)},
  year={2018},
}