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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
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Tree detection, clustering and its removal #484

Closed tejalbarnwal closed 2 years ago

tejalbarnwal commented 2 years ago

How can I perform tree detection, clustering and removal of it using libpointmatcher filters? Are there any other methods to do the same?

pomerlef commented 2 years ago

You can have a look at these publications: https://norlab.ulaval.ca/publications/forest-mapping/

There is no such capability in libpointmatcher, but any additional filters are welcome. For the publications above, DBSCAN was tested, but triggered too many false positive for the segmentation. We manually segmented trees for our experiments. The dataset is available if you want to evaluate your solution: https://norlab.ulaval.ca/research/montmorencydataset/

Maybe @jefft255 have something to add?

tejalbarnwal commented 2 years ago

Thank you, @pomerlef I will definitely take a look at this!