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Updated with a short demo on sample AV LIDAR scans

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Praveen Palanisamy 2018-07-23 23:32:18 -04:00 committed by GitHub
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# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds # 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++. 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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- Unsupervised k-means clustering based on detected features and refinement using RANSAC - Unsupervised k-means clustering based on detected features and refinement using RANSAC
- Stable tracking (object ID & data association) with an ensemble of Kalman Filters - Stable tracking (object ID & data association) with an ensemble of Kalman Filters
- Robust compared to k-means clustering with mean-flow tracking - Robust compared to k-means clustering with mean-flow tracking
### Short demo on a sample LIDAR scans from an autonomous vehicle
![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)