stairs_recogniton
Recognize stairs with lidar. Project the laser points to X-Z plane and use least squares for linear fitting.
Dependencies
- PCL 1.8
- Eigen 3.7
- Ceres 1.14
How to use
mkdir stairs_recogniton
cd stairs_recogniton
mkdir src
cd src
git clone https://github.com/BIT-MJY/stairs_recogniton.git
cd ..
catkin_make
source devel/setup.bash
roslaunch stairs_recognition stairs_recognition.launch
Author
Developed by Junyi Ma, Beijing Institute of Technology.