The paper describing the method was accepted for publication at XXX. Zhao, X.; Yang, Z.; Schwertfeger, S. Mapping with Reflection - Detection and Utilization of Reflection in 3D Lidar Scans. In Proceedings of the 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2020, pp. 27–33.
@INPROCEEDINGS{9292595,
author={Zhao, Xiting and Yang, Zhijie and Schwertfeger, Sören},
booktitle={2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={Mapping with Reflection - Detection and Utilization of Reflection in 3D Lidar Scans},
year={2020},
volume={},
number={},
pages={27-33},
keywords={Glass;Laser radar;Windows;Three-dimensional displays;Robots;Laser beams;Simultaneous localization and mapping},
doi={10.1109/SSRR50563.2020.9292595}
}
Download the code to your ros workspace Use catkin_make to compile the code
Download link: https://3dref.github.io/
Single frame algorithm for Velodyne HDL-32E
roslaunch reflection_detection single_frame_detection_velodyne.launch
rosbag play /demo_data/dual_pointcloud.bag
Single frame algorithm for 3DRef Hesai Pandar QT64 Need to change data place in line 86-87 in single_frame_detection_3dref.launch
roslaunch reflection_detection single_frame_detection_3dref.launch
Multiple frame algorithm for 3DRef Hesai Pandar QT64 Need to change data place in line 86-87 in single_frame_detection_3dref.launch
roslaunch reflection_detection multi_frame_detection_3dref.launch