Bevlshaper

bevlshaper

Algorithm for bird's-eye-view L-shape fitting in 3D LIDAR point clouds from traffic scenarios

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:hammer: UNDER DEVELOPMENT :wrench:

Foreword

This project is inspired by the paper Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners. As in the paper, a search tree algorithm is used for segmentation after point cloud filtering. This step is inspired by Moving object classification using horizontal laser scan data. Within found clusters, L-shapes are detected. Therefore, rectangles are searched and reduced to L-shapes (oriented towards the sensing vehicle) afterwards. For easy prototyping and modelling, Python and the NumPy library are used instead of a more computationally powerful language.

<p align="center"> <img src="pcl_lshapes.gif" alt="Clustered point cloud data from bird's-eye-view with fitted L-shapes/rectangles"/> </p>

Prepare environment

conda create --name kitti -y python=3 \
&& conda activate kitti \
&& git clone https://github.com/rwschubert/exploreKITTI.git \
&& pip install numpy pykitti matplotlib opencv-python opencv-contrib-python moviepy \
&& mkdir frames

Run bevlshaper on KITTI dataset scenes

time python bevlshaper.py 2011_09_26 0001