Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Last update: Dec 12, 2022

Overview

`urban_road_filter`: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles

Dependency

ROS (tested with Kinetic and Melodic)
PCL

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/jkk-research/urban_road_filter
catkin build urban_road_filter

Getting started

Cite & paper

If you use any of this code please consider citing the paper:


@Article{roadfilt2022horv,
    title = {Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles},
    author = {Horváth, Ernő and Pozna, Claudiu and Unger, Miklós},
    journal = {Sensors},
    volume = {22},
    year = {2022},
    number = {1},
    url = {https://www.mdpi.com/1424-8220/22/1/194},
    issn = {1424-8220},
    doi = {10.3390/s22010194}
}

Realated solutions

points_preprocessor ray_ground_filter and ring_ground_filter

Videos and images

Comments

If the given dataset have a preprocessing?

Thanks for your great work! I try to do some experiment on kitti dataset. But I found it does not have the same effect as yours. The blue marks, as shown in the following image, are false positive. I want to wonder if the given dataset have a preprocessing?
question

opened by LuYoKa 6
I need help

Hello, I follow the steps to generate this error. How should I solve it? Thanks Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:75: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/lidar_segmentation.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/lidar_segmentation.cpp.o] Error 4 make[2]: *** 正在等待未完成的任务.... c++: internal compiler error: 已杀死 (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:131: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/z_zero_method.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/z_zero_method.cpp.o] Error 4 c++: internal compiler error: 已杀死 (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:89: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/main.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/main.cpp.o] Error 4 CMakeFiles/Makefile2:2521: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/all' failed make[1]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed
question

opened by chaohe1998 2
Follow ROS naming conventions
Naming ROS resources: http://wiki.ros.org/ROS/Patterns/Conventions

Package naming: https://www.ros.org/reps/rep-0144.html

Naming conventions for drivers: https://ros.org/reps/rep-0135.html

Parameter namespacing: http://wiki.ros.org/Parameter%20Server

e.g. visualization_MarkerArray is not a valid topic name
enhancement
opened by horverno 1
StarShapedSearch algorithm not functioning properly

The "star shaped search" detection algorithm seems to function with reduced range and [by angle] only in the first quarter of its detection area (counter-clockwise / positive z angles from x-axis, right-handed coordinate-system).

The images below show the output using only this algorithm (other detection methods, blind spot correction and output polygon simplification turned off).

[red line = polygon connecting the detected points]

opened by csaplaci 0
Semi-automated vector map building

New feature:

Based on the urban_road_filter output a semi-automated vector map building (e.g. lanelet2 / opendrive) in the global frame (e.g. map)

(small help)
enhancement feature

opened by horverno 1

Releases(paper)

paper(Mar 10, 2022)

The verison described in the paper
Source code(tar.gz)
Source code(zip)

Owner

JKK - Vehicle Industry Research Center

Széchenyi University's Research Center

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Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Related tags

Overview

`urban_road_filter`: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles

Dependency

Install

Getting started

Cite & paper

Realated solutions

Videos and images

Comments

If the given dataset have a preprocessing?

I need help

Follow ROS naming conventions

StarShapedSearch algorithm not functioning properly

Semi-automated vector map building

Releases(paper)

paper(Mar 10, 2022)

Owner

JKK - Vehicle Industry Research Center

Music Source Separation; Train & Eval & Inference piplines and pretrained models we used for 2021 ISMIR MDX Challenge.

Learnable Multi-level Frequency Decomposition and Hierarchical Attention Mechanism for Generalized Face Presentation Attack Detection

Compute descriptors for 3D point cloud registration using a multi scale sparse voxel architecture

CasualHealthcare's Pneumonia detection with Artificial Intelligence (Convolutional Neural Network)

Swapping face using Face Mesh with TensorFlow Lite

Tutel MoE: An Optimized Mixture-of-Experts Implementation

My implementation of Image Inpainting - A deep learning Inpainting model

Prevent `CUDA error: out of memory` in just 1 line of code.

Code of paper Interact, Embed, and EnlargE (IEEE): Boosting Modality-specific Representations for Multi-Modal Person Re-identification.

Official code for our ICCV paper: "From Continuity to Editability: Inverting GANs with Consecutive Images"

Unofficial JAX implementations of Deep Learning models

Deep Unsupervised 3D SfM Face Reconstruction Based on Massive Landmark Bundle Adjustment.

COVID-VIT: Classification of Covid-19 from CT chest images based on vision transformer models

Photo2cartoon - 人像卡通化探索项目 (photo-to-cartoon translation project)

Apply Graph Self-Supervised Learning methods to graph-level task(TUDataset, MolculeNet Datset)

DPC: Unsupervised Deep Point Correspondence via Cross and Self Construction (3DV 2021)

The code for our paper "NSP-BERT: A Prompt-based Zero-Shot Learner Through an Original Pre-training Task —— Next Sentence Prediction"

Implementation of Bagging and AdaBoost Algorithm

The 2nd Version Of Slothybot

Myia prototyping

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Related tags

Overview

urban_road_filter: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles

Dependency

Install

Getting started

Cite & paper

Realated solutions

Videos and images

Comments

If the given dataset have a preprocessing?

I need help

Follow ROS naming conventions

StarShapedSearch algorithm not functioning properly

Semi-automated vector map building

Releases(paper)

paper(Mar 10, 2022)

Owner

JKK - Vehicle Industry Research Center

Music Source Separation; Train & Eval & Inference piplines and pretrained models we used for 2021 ISMIR MDX Challenge.

Learnable Multi-level Frequency Decomposition and Hierarchical Attention Mechanism for Generalized Face Presentation Attack Detection

Compute descriptors for 3D point cloud registration using a multi scale sparse voxel architecture

CasualHealthcare's Pneumonia detection with Artificial Intelligence (Convolutional Neural Network)

Swapping face using Face Mesh with TensorFlow Lite

Tutel MoE: An Optimized Mixture-of-Experts Implementation

My implementation of Image Inpainting - A deep learning Inpainting model

Prevent `CUDA error: out of memory` in just 1 line of code.

Code of paper Interact, Embed, and EnlargE (IEEE): Boosting Modality-specific Representations for Multi-Modal Person Re-identification.

Official code for our ICCV paper: "From Continuity to Editability: Inverting GANs with Consecutive Images"

Unofficial JAX implementations of Deep Learning models

Deep Unsupervised 3D SfM Face Reconstruction Based on Massive Landmark Bundle Adjustment.

COVID-VIT: Classification of Covid-19 from CT chest images based on vision transformer models

Photo2cartoon - 人像卡通化探索项目 (photo-to-cartoon translation project)

Apply Graph Self-Supervised Learning methods to graph-level task(TUDataset, MolculeNet Datset)

DPC: Unsupervised Deep Point Correspondence via Cross and Self Construction (3DV 2021)

The code for our paper "NSP-BERT: A Prompt-based Zero-Shot Learner Through an Original Pre-training Task —— Next Sentence Prediction"

Implementation of Bagging and AdaBoost Algorithm

The 2nd Version Of Slothybot

Myia prototyping

`urban_road_filter`: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles