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.