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Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data.

Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data. It based on traditional algorithm to segment 3D LiDAR data and generate free-space.
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Category: C/C++ / Artificial Intelligence
Watchers: 2
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Last update: Sep 6, 2021
Resource links
https://github.com/Livox-SDK/livox_free_space

Livox-Free-Space

Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data. It based on traditional algorithm to segment 3D LiDAR data and generate free-space.

Demo

Free space is marked in red.

Dependencies

  • ROS (tested with Melodic)
  • Eigen 3.3.7
  • PCL 1.8

Installation

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_free_space
cd ..
catkim_make

Run with Bag File

  • Open your bash and cd to the path of your bag, or you can use the demo bag in data/.
rosbag play your.bag
  • Open another bash and cd to your workspace.
cd ~/your_workspace
source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Run with your device:

  • Run your LiDAR with livox_ros_driver
cd ~/catkin_ws
source devel/setup.bash
roslaunch livox_ros_driver livox_lidar_msg.launch
  • Run the launch file:
cd ~/your_workspace
source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Notes

  • The required topic name of point cloud messages is /points_raw, and the type is sensor_msgs::PointCloud2
  • The parameter height_offset in launch file is used to calibrate the ground height in input point cloud to near 0 in advance.

Support

You can get support from Livox with the following methods:

  • Send email to [email protected] with a clear description of your problem and your setup
  • Report issues on github

Contents

    Livox-SDK LIO-Livox (A Robust LiDAR-Inertial Odometry for Livox LiDAR)
    Livox-SDK A package to provide plug-in for Livox Series LiDAR.
    BigMoWangying LiDAR Iris for Loop-Closure Detection
    wh200720041 Fast LOAM (Lidar Odometry And Mapping) for solid state lidar indoor localization and mapping
    TixiaoShan ICRA 2021 - Robust Place Recognition using an Imaging Lidar
    KIT-ISAS LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
    praveen-palanisamy C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud
    vectr-ucla Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
    maudzung Super Fast and Accurate 3D Object Detection based on 3D LiDAR Point Clouds
    maudzung Super Fast and Accurate 3D Object Detection based on 3D LiDAR Point Clouds
    APRIL-ZJU LI-Calib is a toolkit for calibrating the 6DoF rigid transformation and the time offset between a 3D LiDAR and an IMU.
    JokerJohn Semantic SLAM designed for urban road scene.
    Livox-SDK This project is used for lidar point cloud undistortion.
    Mazhichaoruya Perception of Autonomous mobile robot,Using ROS,rs-lidar-16,By SLAM,Object Detection with Yolov5 Based DNN
    demonzyj56 Effective End-to-end Unsupervised Outlier Detection via Inlier Priority of Discriminative Network
    AutoLidarPerception The LiDAR segmenters library, for segmentation-based detection.
    maudzung YOLO3D: End-to-end real-time 3D Oriented Object Bounding Box Detection from LiDAR Point Cloud
    hlesmqh Weakly Supervised 3D object detection from Lidar Point Cloud
    koide3 3D LIDAR-based Graph SLAM
    effective-software-testing The code examples of the "Effective Software Testing: A Guide to Engineering High-Quality Tests" book
    PRBonn Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data (RAL/IROS 2021)
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