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

GitHub Repository

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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

Gym environments used in the paper: "Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV with Thrust Vectoring Rotors"

Repo for EMNLP 2021 paper "Beyond Preserved Accuracy: Evaluating Loyalty and Robustness of BERT Compression"

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Neural Cellular Automata + CLIP

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🔥3D-RecGAN in Tensorflow (ICCV Workshops 2017)

K-FACE Analysis Project on Pytorch

In the AI for TSP competition we try to solve optimization problems using machine learning.

A DNN inference latency prediction toolkit for accurately modeling and predicting the latency on diverse edge devices.

Deep Learning for Human Part Discovery in Images - Chainer implementation

Using OpenAI's CLIP to upscale and enhance images

NudeNet: Neural Nets for Nudity Classification, Detection and selective censoring

Codes for realizing theories learned from Data Mining, Machine Learning, Deep Learning without using the present Python packages.

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Paper: Cross-View Kernel Similarity Metric Learning Using Pairwise Constraints for Person Re-identification

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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

Gym environments used in the paper: "Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV with Thrust Vectoring Rotors"

Repo for EMNLP 2021 paper "Beyond Preserved Accuracy: Evaluating Loyalty and Robustness of BERT Compression"

[ICCV 2021] Learning A Single Network for Scale-Arbitrary Super-Resolution

GARCH and Multivariate LSTM forecasting models for Bitcoin realized volatility with potential applications in crypto options trading, hedging, portfolio management, and risk management

2021-AIAC-QQ-Browser-Hyperparameter-Optimization-Rank6

SciFive: a text-text transformer model for biomedical literature

Neural Cellular Automata + CLIP

Statsmodels: statistical modeling and econometrics in Python

🔥3D-RecGAN in Tensorflow (ICCV Workshops 2017)

K-FACE Analysis Project on Pytorch

In the AI for TSP competition we try to solve optimization problems using machine learning.

A DNN inference latency prediction toolkit for accurately modeling and predicting the latency on diverse edge devices.

Deep Learning for Human Part Discovery in Images - Chainer implementation

Using OpenAI's CLIP to upscale and enhance images

NudeNet: Neural Nets for Nudity Classification, Detection and selective censoring

Codes for realizing theories learned from Data Mining, Machine Learning, Deep Learning without using the present Python packages.

"3D Human Texture Estimation from a Single Image with Transformers", ICCV 2021

Paper: Cross-View Kernel Similarity Metric Learning Using Pairwise Constraints for Person Re-identification

TensorFlow implementation of "Variational Inference with Normalizing Flows"

Code for "3D Human Pose and Shape Regression with Pyramidal Mesh Alignment Feedback Loop"

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