LiDAR-OBJECT-DETECTION

Simple algorithm to detect the object of road environment using 3D LiDAR

Tested Environment

• Ubuntu 18.04
• ROS Melodic

Summary

• Subscribe sensor_msgs/PointCloud2 msg
• Object Detection from the point cloud
• Publish bounding box(visualization_msgs/MarkerArray)

How to use

Clone, build and run

$ git clone https://github.com/bigbigpark/LiDAR-OBJECT-DETECTION.git
$ git clone https://github.com/bigbigpark/lidar_msgs.git

$ catkin build

$ roslaunch lidar_object_detection object_detect.launch

Parameter configuration

You can easily modify topic name of sensor_msgs/PointCloud2 by changing object_detect.launch

<node name="object_detection" pkg="lidar_object_detection" type="object_detection" output="screen" respawn="true">
    <remap from="/input" to="/os_cloud_node/points"/>
</node>

Here, change your topic

TODO

• Robust object detection
• Get orientation of the object