patchwork2

Are you ready to exploit fast and robust ground-segmentation for all terrestrial robots?

Patchwork2 is under revision and soon will be available! 😎😎😎

Features

• Two times faster than Patchwork while showing better precision and recall!
• Contains an outlier-robust approach to prevent bin-wise ground segmentation failure
• Supports all terrain.
• Super-easy usability (because all the parameters, including sensor height, are automatically set)

% When running Patchwork2 using VLP-16 with a wheel-based robot or quadruped robot
$ roslaunch patchwork2 run_patchwork2.launch sensor_type:=VLP16

% When running Patchwork2 using Ouster OS1-64
$ roslaunch patchwork2 run_patchwork2.launch sensor_type:=OS1-64

% When running Patchwork2 using Velodyne HDL-64E (i.e., on SemanticKITTI dataset)
$ roslaunch patchwork2 run_patchwork2.launch sensor_type:=HDL-64E

Stay tuned! 😝