Run_based_segmentation

A ROS node to perform ground plane fitting and run_based_segmentation for LiDAR pointcloud.

@inproceedings{Zermas2017Fast,
  title={Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications},
  author={Zermas, Dimitris and Izzat, Izzat and Papanikolopoulos, Nikolaos},
  booktitle={IEEE International Conference on Robotics and Automation},
  year={2017},
}

Requirement

• PCL
• ROS Kinetic
• ROS Velodyne_driver

Run

$ catkin_make
$ rosrun points_preprocessor_usi groundplanfit
$ rosrun points_preprocessor_usi scanlinerun

And cluster point cloud will be published as cluster with different label.