Overview

This repo was used as a way to gain further experience in ROS, and develop my C++ and algorithm development skills. I attempt to implement the algorithm presented in the following paper: https://www.mrt.kit.edu/z/publ/download/Moosmann_IV09.pdf . I used the KITTI datset found here as my data source: http://www.cvlibs.net/datasets/kitti/index.php .

Implementation Overview

Given the KITTI datset, create a runable ROS node that implements the following:

The neighborhood graph construction is shown as seen below:

Descriptions will be updated here as they are settled upon...

cd /your/catkin_ws/src/

Once you are in the right directory, clone this repo using the command below.

git clone https://github.com/aidanjones3/Ground-Segmentation.git'

The repo can be build by running the following command in your catkin_ws

catkin_make

roscore

rosbag play -l ../ros_bag_files/kitti_2011_09_26_drive_0084_synced.bag

rosrun ground_classifier GroundClassifier