lidar histogram

This repo is an implementation of the paper "Lidar-histogram for fast road and obstacle detection"(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