Lidar Obstacle Detection

Project description

The goal of project is apply segmentation of objects around the ego motion car and as a result detect obstacles around it using LiDAR data. In this project, the following tasks were completed:

• Implementation of customized 3D Ransac
• Implementation of KDTree
• Implementation of pre-processing cloud pipeline

Installation

Ubuntu

$> sudo apt install libpcl-dev
$> cd ~
$> git clone https://github.com/udacity/SFND_Lidar_Obstacle_Detection.git
$> cd SFND_Lidar_Obstacle_Detection
$> mkdir build && cd build
$> cmake ..
$> make
$> ./environment

Windows

http://www.pointclouds.org/downloads/windows.html

MAC

Install via Homebrew

1. install homebrew
2. update homebrew

   $> brew update

3. add homebrew science tap

   $> brew tap brewsci/science

4. view pcl install options

   $> brew options pcl

5. install PCL

   $> brew install pcl

Prebuilt Binaries via Universal Installer

http://www.pointclouds.org/downloads/macosx.html
NOTE: very old version

Build from Source

PCL Source Github

PCL Mac Compilation Docs

Disclamer

This project was cloned from Udacity Lidar obstacle detection in the context of Sensor Fusion Engineer nanodegree.