Point Cloud Detection Application

This is an application that detects objects from point cloud data by applying ground segmentation techniques and Euclidean clustering.
It also visualizes the original point cloud data along with bounding boxes for detected objects.

Building

This application requires CMake 3.2.1 (or higher) and PCL 1.11.1 (or higher).

Building on Debian/Ubuntu:

git clone https://github.com/joshuakurien/point-cloud-bounding-boxes
cd point-cloud-bounding-boxes
mkdir build && cd build
cmake ..
make

Usage

To run the application run the following command in the build directory:

./main

Output

Original Data Visualization

Post-Segmentation Visualization

References

Ground segmentation algorithm based on the following paper:

@article{article,
  author = {Chu, Phuong and Cho, Seoungjae and Sim, S. and 
  Kwak, K. and Cho, Kyungeun},
  year = {2017},
  month = {01},
  pages = {491-499},
  title = {A Fast Ground Segmentation Method for 3D Point Cloud},
  volume = {13},
  journal = {Journal of Information Processing Systems},
  doi = {10.3745/JIPS.02.0061}
}