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point cloud lane detection
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images add images Oct 8, 2018 update readme Oct 8, 2018 finished Jun 11, 2018


Authors: William Wang, Felix Wang

Problem Statement

Find equations for lane markings in point cloud data.

Data Specification

final_project_point_cloud.fuse :

Point cloud data.
Data format:
	[latitude] [longitude] [altitude] [intensity]

Notice lane markings are reflexive and thus corresponding points will have higher intensity.


  1. To get pcl_viewer: sudo apt-get install pcl-tool
  2. To open and display .pcd file: pcl_viewer filename.pcd
    • To turn on intensity, press 5

Package Used:

  1. PCL
  2. pyproj
  3. numpy
  4. scipy
  5. matplotlib
  6. sklearn

How-To run program:

  1. Put program in the same data folder as final_project_point_cloud.fuse
  2. python


Please refer to the slides for details. Feel free to contact authors if you have further questions.

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