lidar_background_removal

Background removal in (2D or 3D) lidar scan data that coincides with an occupancy grid map.

How to build

cd ~/catkin_ws/src/
git clone https://github.com/yzrobot/lidar_background_removal.git
cd ~/catkin_ws
catkin_make

Run

rosrun lidar_background_removal lidar_background_removal

Test environment

Ubuntu 20.04 LTS
ROS Noetic

Citation

If you are considering using this code, please reference the following:

@article{io22software,
   author  = {Iaroslav Okunevich and Vincent Hilaire and Stephane Galland and Olivier Lamotte and Liubov Shilova and Yassine Ruichek and Zhi Yan},
   title   = {Software-hardware Integration and Human-centered Benchmarking for Socially-compliant Robot Navigation},
   journal = {CoRR},
   volume = {abs/2210.15628},
   year = {2022},
   url = {http://arxiv.org/abs/2210.15628},
   archivePrefix = {arXiv},
   eprint = {2210.15628}
}