multiple-object-tracking-lidar/README.md

# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds
![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)

PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.

### Features:

- K-D tree based point cloud processing for object feature detection from point clouds
- Unsupervised k-means clustering based on detected features and refinement using RANSAC
- Stable tracking (object ID & data association) with an ensemble of Kalman Filters 
- Robust compared to k-means clustering with mean-flow tracking
Added README with a short summary of the code 2018-07-24 11:30:07 +08:00			`# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds`
Updated with a short demo on sample AV LIDAR scans 2018-07-24 11:32:18 +08:00			`![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)`
Added README with a short summary of the code 2018-07-24 11:30:07 +08:00
			`PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.`

			`### Features:`

			`- K-D tree based point cloud processing for object feature detection from point clouds`
			`- Unsupervised k-means clustering based on detected features and refinement using RANSAC`
			`- Stable tracking (object ID & data association) with an ensemble of Kalman Filters`
			`- Robust compared to k-means clustering with mean-flow tracking`