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.