Lidar-with-velocity - Lidar with Velocity: Motion Distortion Correction of Point Clouds from Oscillating Scanning Lidars

Lidar with Velocity

A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud.

​ This repository is a barebones implementation for our paper Lidar with Velocity : Motion Distortion Correction of Point Clouds fromOscillating Scanning Lidars . It's a fusion based method to handle the oscillating scan Lidar points distortion problem, and can also provide a accurate velocity of the objects. result

​ Here is a Wiki to give a brief intro about the distortion from TOF Lidar and our proposed method. For more infomation, u can also check out the paper arXiv.

1. Prerequisites

Ubuntu and ROS. Tested on Ubuntu 18.04. ROS Melodic

Eigen 3.3.4

Ceres Solver 1.14.0

Opencv 3.2.0

2. Build on ROS

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/ISEE-Technology/lidar-with-velocity
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

3. Directly run

First download the dataset and extract in /catkin_ws/ path.

replace the "DATASET_PATH" in config/config.yaml with your extracted dataset path, example: (notice the "/")

dataset_path: YOUR_CATKIN_WS_PATH/catkin_ws/data/

Then follow the commands blow :

roscore
rviz -d src/lidar-with-velocity/rviz_cfg/vis.rviz
rosrun lidar-with-velocity main_ros

there will be a Rviz window and a PCL Viewer window to show the results, press key "space" in the PCL Viewer window to process the next frame.

Owner
ISEE Research Group
ISEE Research Group @ SUSTech
ISEE Research Group
Comments
  • The result using your dataset

    The result using your dataset

    Hi! I test your code with your dataset, but the result is not as good as that in paper. Is there anything wrong when I use the code? image image As you can see, the distortion of point cloud is not completely compensated.

  • How about the distortion affect detection?

    How about the distortion affect detection?

    Hi, nice work!

    But I have some questions, looking forward your reply.

    First of all, the distortion pointcloud may affect the object detection, I think that is the main reason why we must do pointcloud distortion. But in your paper, I understand you do undistortion after the object and MOT, did the reason and result revert?

    And the second, throuh we are already get the detection an tracking result, why we need do undistortion then? May be use the boost idea to refine detection result? But I do really think it is cost. Is there any evaluation about the time and computing resource costing?

    And the third, I think the reason why you need camera, may be promote the detection ap or tracking performance. But if the pointcloud is distorted, if the calibration precision will be affected? espically for the long distance(may be 50 miles or 100 miles away?) we known the calibration precision will really low, and then the the calibration precision may be lower!

    Thx again, the first question really confuse me and I really hope your help.

  • A question about the results in the paper

    A question about the results in the paper

    Hello, I'm interested in your work! While reading your paper, I have a question that I hope I can get an answer from you. In the results of your system (Fig 9,especially the two pictures on the left), I noticed there are some noise at the rail of the green point cloud (corrected point cloud). I would like to ask if this noise is caused by the motion distortion correction or the inaccurate object detection/clustering results? Thanks!

    您好,我对你们的工作很感兴趣! 在阅读你们的论文时,我有一个问题,希望可以得到你们的解答。 在你们的系统输出结果中(Fig 9,左边两张图比较明显),我注意到了在绿色的点云(矫正后的点云)的尾部有一些噪点,我想请问下这个噪点是因为畸变矫正产生的还是因为检测/分割的不够准确而产生的呢? 感谢!

  • The maximum frames can be merged

    The maximum frames can be merged

    Thank you for your excellent work! From the paper it seems the experiments are done in the consecutive 3 frames of point cloud from Livox Horizon. How much frames can be merged to the maximum? Is that corresponding to the velocity and acceleration of the moving object in the scene?

  • What if there are objects turning left or right?

    What if there are objects turning left or right?

    Thank you for your work! It seems the method can only work when the object is moving along its axis. If the object is turning left or right, can this method be used to fix the distortion?

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