Skip to content

STAR-Center/Reflection_detection

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

5 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Reflection_detection

Paper

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}
  }

Installation

Download the code to your ros workspace Use catkin_make to compile the code

Datasets

Download link: https://3dref.github.io/

How to run

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

About

No description, website, or topics provided.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published