2017-05: Code Available: High-Speed Depth Clustering Using 3D Range Sensor Data by Igor Bogoslavskyi (Updated)

Depth Clustering by Igor Bogoslavskyi and Cyrill Stachniss

Depth Clustering is available on GitHub

We released our code that implements a fast and robust algorithm to segment point clouds taken with Velodyne sensor into objects. It works with all available Velodyne sensors, i.e. 16, 32 and 64 beam ones. See a video that shows all objects which have a bounding box with the volume of less than 10 qubic meters:

This code is related to the following publications:
I. Bogoslavskyi and C. Stachniss, “Efficient Online Segmentation for Sparse 3D Laser Scans,” PFG — Journal of Photogrammetry, Remote Sensing and Geoinformation Science, pp. 1-12, 2017.
as well as
I. Bogoslavskyi and C. Stachniss, “Fast Range Image-Based Segmentation of Sparse 3D Laser Scans for Online Operation”, In Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) , 2016.