url-kaist / patchwork-plusplus

Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

Patchwork++

Video   •   Install   •   ROS2   •   Paper   •   Contact Us

Patchwork++, an extension of Patchwork, is a fast, robust, and self-adaptive ground segmentation algorithm on 3D point cloud.

📂 What's in this repo

• C++ source code of Patchwork++ (patchworkpp)
• Python binding of Patchwork++ using pybind11 (python_wrapper)
• Examples codes of C++, Python, and ROS2 👍

If you are familiar with ROS1, you can also visit here and try executing ROS1-based Patchwork++!

📦 Prerequisite packages

What we need are just minimal dependencies.

sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y

⚙️ How to build & Run

Python

Pure installation

make pyinstall

Then, you can use Patchwork++ by import pypatchworkpp, which is super simple!

Installation to run demo

Only Open3D (> 0.17.0) is additionally installed for visualization purposes.

make pyinstall_with_demo

How to run Python demos is explained here.

C++

Pure installation

make cppinstall

Installation with demo

Only Open3D (> 0.17.0) is additionally installed for visualization purposes.

make cppinstall_with_demo

How to run the C++ demos is explained here.

ROS2

You should not need any extra dependency, just clone and build:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/url-kaist/patchwork-plusplus.git
cd ~/ros2_ws
colcon build --packages-select patchworkpp
source ./install/setup.bash 

How to launch ROS2 nodes is explained here.

📝 Citation

If you use our codes, please cite our paper (arXiv, IEEE Xplore)

@inproceedings{lee2022patchworkpp,
    title={{Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3D point cloud}},
    author={Lee, Seungjae and Lim, Hyungtae and Myung, Hyun},
    booktitle={Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst.},
    year={2022},
    pages={13276-13283}
}

In addition, you can also check the paper of our baseline, Patchwork. (arXiv, IEEE Xplore)

@article{lim2021patchwork,
    title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
    author={Lim, Hyungtae and Minho, Oh and Myung, Hyun},
    journal={IEEE Robotics and Automation Letters},
    year={2021}
}

🚩 Tested Environment

• Ubuntu 18.04 and 20.04 and 22.04
• CMake 3.25.1 (>=3.20, min. Required to install Open3D)
  • In scripts/install_open3d.bash, the installation of the higher version of CMake is already implemented.
• Open3D 0.15.2 0.18.0
• pybind11 v2.2.3
• Eigen 3.3.7

📫 Contact Information

If you have any questions, please do not hesitate to contact us

• Seungjae Lee ✉️ sj98lee at kaist ac kr
• Hyungtae Lim ✉️ shapelim at kaist ac kr

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Todo List

• Support intensity for RNR in master branch
• Support Patchwork mode for users who use this repository for baseline comparison purposes
• Integrate TBB and optimize the performance