CloudLine2Plane

This is a repo for multi-plane segmentation algorithm on sparse multi-line point cloud.

​ Input point cloud (from VLP-16) Our multi-plane segmentation result

Dependencies

• Eigen3
• PCL
• OpenCV
• YAML-CPP

Build This Program

git clone https://github.com/bzdfzfer/CloudLine2Plane.git
mkdir -p ~/CloudLine2Plane/build/ && cd ~/CloudLine2Plane/build/
cmake .. 
make -j8

Run This Program

Please refer bash files in the scripts folder.
e.g.

Dataset Downloading

Currently, the sample data is located at the "data" folder.

The simulation data is now available at Google Drive.

Some Results

• Plane segmentation results of Velodyne Indoor Simulation dataset

  

  ​ 16-line Cloud (VLP-16) 32-line Cloud (HDL-32) 64-line Cloud (HDL-64)

• Segmentation results on Perceptron Segcomp Dataset

  

Paper Citation:

• Xiaoguo D, Yuchu L, Qijun Chen, A fast multi-plane segmentation algorithm for sparse 3D LiDAR point clouds by line segment grouping, IEEE Transactions on Instrumentation and Measurement. (Accepted)early access version