linefit_ground_segmentation

Implementation of the ground segmentation algorithm proposed in

@inproceedings{himmelsbach2010fast,
  title={Fast segmentation of 3d point clouds for ground vehicles},
  author={Himmelsbach, Michael and Hundelshausen, Felix V and Wuensche, H-J},
  booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE},
  pages={560--565},
  year={2010},
  organization={IEEE}
}

The linefit_ground_segmentation package contains the ground segmentation library. A ROS interface is available in linefit_ground_segmentation_ros

The library can be compiled separately from the ROS interface if you're not using ROS.

Installation

Requires the following dependencies to be installed:

• catkin_simple https://github.com/catkin/catkin_simple.git
• glog_catkin https://github.com/ethz-asl/glog_catkin.git

Compile using your favorite catkin build tool (e.g. catkin build linefit_ground_segmentation)

Launch instructions

The ground segmentation ROS node can be launch by executing roslaunch linefit_ground_segmentation_ros segmentation.launch. Input and output topic names can be specified in the same file.

Parameter description

Parameters are set in linefit_ground_segmentation_ros/launch/segmentation_params.yaml

Ground Condition

• max_dist_to_line maximum vertical distance of point to line to be considered ground.
• max_slope Maximum slope of a line.
• max_fit_error Maximum error a point is allowed to have in a line fit.
• max_start_height Maximum height difference between new point and estimated ground height to start a new line.
• long_threshold Distance after which the max_height condition is applied.
• max_height Maximum height difference between line points when they are farther apart than long_threshold.
• sensor_height Sensor height above ground.
• line_search_angle How far to search in angular direction to find a line. A higher angle helps fill "holes" in the ground segmentation.

Segmentation

• r_min Distance at which segmentation starts.
• r_max Distance at which segmentation ends.
• n_bins Number of radial bins.
• n_segments Number of angular segments.

Other

• n_threads Number of threads to use.
• latch Latch output point clouds in ROS node.
• visualize Visualize the segmentation result. ONLY FOR DEBUGGING. Do not set true during online operation.