An ROS implementation of "An Efficient Convex Hull-Based Vehicle Pose Estimation Method for 3D LiDAR"
- This method is faster comparing to the vanilla L-shape fitting algorithm
- It can achieve accurate vehicle pose estimation in most cases.
Known Issues
- In some cases, this method can not get the right vehicle pose.
- Ubuntu 18.04/20.04
- ROS melodic/noetic
- Download the processed kitti dataset from https://drive.google.com/file/d/1sEsicSuYgImZmh_mg5JCbphG9JuTk7Cz/view?usp=sharing
# clone the repo
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/HMX2013/kitti3d_gt_loader
git clone https://github.com/HMX2013/Covex-hull-based-fitting-3D-LiDAR-ROS
download obsdet_msgs from
"https://drive.google.com/file/d/1ztLk9Slm656CV-WJieUpBJPlz-Iw14Bk/view?usp=share_link"
download the processed KITTI dataset from
https://drive.google.com/file/d/1sEsicSuYgImZmh_mg5JCbphG9JuTk7Cz/view?usp=share_link
cd ../
catkin_make
source ./devel/setup.bash
roslaunch kitti3d run.launch
roslaunch convex_optimize_fitting run_rviz.launch
If our research has been helpful, please cite the below papers:
@article{ding2023efficient,
title={An Efficient Convex Hull-Based Vehicle Pose Estimation Method for 3D LiDAR},
author={Ding, Ningning},
journal={arXiv preprint arXiv:2302.01034},
year={2023}
}
You are welcome contributing to the package by opening a pull-request
We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide
MIT License