Obstacle Detection using LiDAR

Implemented a Obstacle Detection pipeline using LiDAR Point Cloud segmentation, 3D RANSAC, KD-Tree and Euclidean clustering algorithm.

Files

• src
  • render
    • box.h: Defines the structure of the box objects.
    • render.h, render.cpp: Defines classes and methods for rendering objects.
  • sensors
    • lidar.h: Functions using ray casting for creating PCD
  • environment.cpp: main file for using PCL viewer and processing/visualizing PCD
  • processPointClouds.h, processPointClouds.cpp: Functions for filtering, segmenting, clustering, boxing, loading and saving PCD

Important Dependencies

• Ubuntu 16.04
• PCL - v1.7.2
• C++ v11
• gcc v5.5

Build Instructions

cd ~/Obstacle-Detection-using-LiDAR
mkdir build && cd build
cmake ..
make
./environment