📝 Pointcloud Segmentation by Curved-Voxel Clustering

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🎉 TODO

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• Pointcloud Segmentation by Curved-Voxel Clustering
• Test on pointcloud data, benchmark processing speed
• GPU version (this type of voxelization is not so difficult to be parallelized on CUDA).

🎛 Dependencies

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sudo apt-get install \
    libpcl-dev \

🔨 How to Build

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make all # to build the library
make apps # to build the examples

🏃 How to Run

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• There are 3 pcd files of velodyne vlp 16, velodyne hdl 32, livox stored in data. To run the sample app, do:

./build/examples/clustering_app ./data/velodyne_vlp_16.pcd

# or test on other sample pcds

💎 References

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1. Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance, IROS 2019
2. An implementation of Curved Voxel Clustering