LiDAR-CURB-DETECTION

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

Tested Environment

  • Ubuntu 18.04
  • ROS Melodic

Summary

  • Subscribe sensor_msgs/PointCloud2 msg
  • Curb Detection from the point cloud
  • Publish seperate curb (e.g. left_curb, right_curb)
    • left_curb : the red points in below figure
    • right_curb : the green points in below figure

How to use

Clone, build and run

$ git clone https://github.com/bigbigpark/LiDAR-CURB-DETECTION.git
$ git clone https://github.com/bigbigpark/lidar_msgs.git
$ catkin build
$ roslaunch lidar_curb_detection curb_detect.launch

Parameter configuration

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

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

Here, change your topic

TODO

  • Robust outlier removal

GitHub

View Github