LiDAR-LANE-DETECTION

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

Tested Environment

• Ubuntu 18.04
• ROS Melodic

Summary

• Subscribe sensor_msgs/PointCloud2 msg
• Lane Detection from the point cloud
• Publish lane points: the pink color one

How to use

Clone, build and run

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

$ catkin build

$ roslaunch lidar_lane_detection lane_detect.launch

Parameter configuration

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

<launch>
  <node name="lane_detection" pkg="lidar_lane_detection" type="lane_detection" respawn="true" output="screen">
    <remap from="/input" to="/os_cloud_node/points"/>
  </node>

  <arg name="rviz_config" default="$(find lidar_lane_detection)/lane.rviz"/>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" required="true" />
  
</launch>

Here, change your topic

TODO

• Detection of more far lanes