multiple-object-tracking-lidar/README.md

Multiple objects detection, tracking and classification from LIDAR scans/point-clouds

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

Short demo on a sample LIDAR scans from an autonomous vehicle