step detection by 3d-Lidar
Implementation of the following paper
「自動車の自律走行のためのOccupancy Grid Maps に基づく全方位障害物検出」 https://www.jstage.jst.go.jp/article/jsaeronbun/44/3/44_20134483/_article/-char/ja/
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"Omnidirectional Obstacle Detection Based on Occupancy Grid Maps for Autonomous Vehicle Driving."
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