lidar_segmentation. A package with tools to preform Segmentation operations to sensor_msgs::LaserScan

Lidar Segmentation Algorithms

This node is intended to explore some 2D Laser segmentation algorithms

The segmentation process, whose objective is grouping segments that belong to the same object, is analysed using several kinds of algorithms:

Simple Clustering, Multivariable Segmentation, Adaptative Breakpoint Detector, Dietmayer Segmentation (Jump distance), Adapted Dietmayer Segmentation (Santos Segmentation) and Spacial Nearest neighbour (Recursive method)

The laser data is created from a .txt file with the Ground-truth data

The results of the Several Algorithms can be seen on a rviz plataform The segmentation results (segments' centers and boundaries) are published into .txt files