Line Detection Algorithm

Lines detection algorithm for ROS2 framework.

Acknowledgement

The algorithm is mostly based on the following paper: "A line segment extraction algorithm using laser data based on seeded region growing".

Example

ROS2 Topics & Messages

Subscribed Topics

• "/scan" (sensor_msgs/msg/LaserScan.msg

  Laser scan message from laser sensor.

Published Topics

• "/lines" (visualization_msgs/msg/MarkerArray)

  Marker array consisting of "LINE_STRIP" markers (visualization_msgs/msg/Marker). Each "LINE_STRIP" consists two points, starting point of the detected line and the ending point.

• "/corners" (visualization_msgs/msg/MarkerArray)

  Marker array consisting of "Sphere" markers. Each sphere location represent the corner location.

Setup

• Download repository:

   cd ~/$YOUR_ROS2_WORKSPACE$/src
   git clone https://github.com/elbazam/line_detection.git

• Install repository:

   cd ~/$YOUR_ROS2_WORKSPACE$
   colcon build --packages-select line_detection

Run

• To execute the algorithm:

   ros2 run line_detection publish_lines

Pipeline

graph TD
A{laser scan} -- \scan --> B[line_detection] -- "/lines" --> C{rviz2/MarkerArray}
B[line_detection] -- "/corners" --> C{rviz2/MarkerArray}

Loading

Future work

• Adding config files.
• Adding corner and exit detection.