LiDAR-CURB-DETECTION

Simple algorithm to detect the curb of road environment using 3D LiDAR

Tested Environment

• Ubuntu 18.04
• ROS Melodic

Summary

• Subscribe sensor_msgs/PointCloud2 msg
• Curb Detection from the point cloud
• Publish seperate curb (e.g. left_curb, right_curb)
  • left_curb : the red points in below figure
  • right_curb : the green points in below figure

How to use

Clone, build and run

$ git clone https://github.com/bigbigpark/LiDAR-CURB-DETECTION.git
$ git clone https://github.com/bigbigpark/lidar_msgs.git

$ catkin build

$ roslaunch lidar_curb_detection curb_detect.launch

Parameter configuration

You can easily modify topic name of sensor_msgs/PointCloud2 by changing curb_detect.launch

<node name="curb_detection" pkg="lidar_curb_detection" type="curb_detection" respawn="true" output="screen">
    <remap from="/input" to="/os_cloud_node/points"/>
</node>

Here, change your topic

TODO

• Robust outlier removal