lidar histogram

This repo is an implementation of the paper [Liang Chen, Jian Yang, and Hui Kong, Lidar-histogram for fast road and obstacle detection, ICRA'2017], (https://doi.org/10.1109/ICRA.2017.7989159)(ICRA2017).

It uses Lidar-histogram to detect traversable road regions, positive and negative obstacles.

Usage

Requirements

We tested on Ubuntu 18.04.

• cmake
• Boost
• Eigen
• PCL
• OpenCV

Build and run

mkdir build
cd build
cmake ..
make
./lidar_hist