An implementation on "I. Bogoslavskyi and C. Stachniss, "Fast range image-based segmentation of sparse 3D laser scans for online operation," 2016 IEEE/RSJ International Conference on Intelligent Ro…

This is a lidar segmentation method based on range image.

Implementation of the fast plane detector as described in the paper "Fast Plane Detection and Polygonalization in noisy 3D Range Images", of Poppinga et al. (IROS 2008)

a tool to convert point cloud to range image

convert ros pointcloud2 to range image to save space

Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments