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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