Simple algorithm to detect the lane of road environment using 3D LiDAR
- Ubuntu 18.04
- ROS Melodic
- Subscribe
sensor_msgs/PointCloud2
msg - Lane Detection from the point cloud
- Publish lane points: the pink color one
Clone, build and run
$ git clone https://github.com/bigbigpark/LiDAR-LANE-DETECTION.git
$ git clone https://github.com/bigbigpark/lidar_msgs.git
$ catkin build
$ roslaunch lidar_lane_detection lane_detect.launch
You can easily modify topic name of sensor_msgs/PointCloud2
by changing lane_detect.launch
<launch>
<node name="lane_detection" pkg="lidar_lane_detection" type="lane_detection" respawn="true" output="screen">
<remap from="/input" to="/os_cloud_node/points"/>
</node>
<arg name="rviz_config" default="$(find lidar_lane_detection)/lane.rviz"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" required="true" />
</launch>
Here, change your topic
- Detection of more far lanes