patchwork-plusplus-ros2

ROS2 implementation of Patchwork++. Tested with Ros2 Humble and Ubuntu 22.04.

This is ROS package of Patchwork++ (@ IROS'22), which is a fast and robust ground segmentation method.

Original codebase [repository]

ROS1 implementation repository

⚙️ How to build and run Patchwork++

To build Patchwork++, you can follow below codes.

$ mkdir -p ~/patchworkpp_ws/src
$ cd ~/patchworkpp_ws/src
$ git clone https://github.com/kaancolak/patchwork-plusplus-ros2.git
$ cd ..
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
$ colcon build 
$ ros2 run patchwork_plusplus patchwork_plusplus_exe --ros-args --params-file ~/patchworkpp_ws/src/patchwork-plusplus-ros2/patchwork_plusplus/config/patchwork_plusplus.param.yaml

Run your bag file :

$ ros2 bag play kitti_00_sample.bag

Citation

If you use our codes, please cite our paper.

In addition, you can also check the paper of our baseline(Patchwork) here.

@inproceedings{lee2022patchworkpp,
    title={{Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3D point cloud}},
    author={Lee, Seungjae and Lim, Hyungtae and Myung, Hyun},
    booktitle={Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst.},
    year={2022},
    note={{Submitted}} 
}

@article{lim2021patchwork,
    title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
    author={Lim, Hyungtae and Minho, Oh and Myung, Hyun},
    journal={IEEE Robotics and Automation Letters},
    year={2021}
}