13 lines
757 B
Markdown
13 lines
757 B
Markdown
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# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds
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PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.
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### Features:
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- K-D tree based point cloud processing for object feature detection from point clouds
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- Unsupervised k-means clustering based on detected features and refinement using RANSAC
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- Stable tracking (object ID & data association) with an ensemble of Kalman Filters
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- Robust compared to k-means clustering with mean-flow tracking
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### Short demo on a sample LIDAR scans from an autonomous vehicle
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