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Looking for LaserScan data processing library

kinetic

asked 2018-10-27 17:12:23 -0500

AutoCar
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Hi,

I am looking for a software library that can processing 2D lidar data in the LaserScan message, such as scan segmentation (splitter), line, arc, circle detection/tracking etc, some like the PCL, but for 2D lidar data.

Thanks,

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answered 2018-10-28 05:24:47 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

This obstacle_detector package does exactly what you're looking for. I think you'll have to build this from source to get it running, apart from that you should be able to get it up and running pretty quickly.

Just a note, this will always be detecting arcs, never circles because a laser scanner by definition can at most see half a circle at single point in time. So strictly speaking this will detect lines and arcs.

Hope this helps.