Fast-Ground-Segmentation-Based-on-JPC

An implementation on "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. https://doi.org/10.3390/rs13163239"

update on 2021/11/10

1. Support ros

2. Fix some bug, but still need to be improved

1.Priciple of Algorithm

(1) RECM for Coarse Ground Segmentation

Image

Algorithm

(2) JPC for Refine

Image

Algorithm

More detail please check in the paper.

2.How to Use

mkdir build
cd build
make -j
./main your lidarfile

3.Result

(1) RECM

(2) Dilate

(3) JPC

(4) Pointcloud