RANSAC L-shape Fitting for 3D LiDAR Point Clouds
An ROS implementation for RANSAC based L-shape fitting for 3D LiDAR point clouds
Reference
- L-Shape Fitting-Based Vehicle Pose Estimation and Tracking Using 3D-LiDAR. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES. 2020
Features
- very fast comparing to the optimization-based L-shape fitting algorithm
TODOs
- complete ransac L shape fitting
- imporove the stability
Known Issues
- the fitting may be invalid if there are very few point clouds.
Dependencies
- the segementation part to output topic /segmentation/detected_objects
- autoware-msgs
- pcl
How to use
# clone the repo
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone ...
cd ../
catkin_make
roslaunch ransac_lshape_fitting ransac_lshape_fitting.launch
Contribution
You are welcome contributing to the package by opening a pull-request
We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide
License
MIT License