DynamicSemanticMapping

Scene Flow Propagation for Semantic Mapping and Object Discovery in Dynamic Street Scenes

Required Dependencies:

• OctoMap https://octomap.github.io/
• Eigen

Install:

• git clone https://github.com/ganlumomo/DynamicSemanticMapping.git
• git checkout -b demo2 origin/demo2
• mkdir build
• cd build
• cmake ..
• make

Run:

./main input_pointcloud.txt

Input Point Cloud Data Format:

• Position Scene Flow Semantic Label
• x y z delta_x delta_y delta_z i(1-n)