An implementation of GP-INSAC algorithm Author: Huang Pengdi Email:[email protected] This is a implementation of GP-INSAC algorithm in ROS system The full name of GP-INSAC algorithm is Gaussian Process INSAC algorithm It is firstly proposed by B. Douillard et al. in the paper: Douillard B, Underwood J, Kuntz N, et al, On the segmentation of 3D LIDAR point clouds, IEEE ICRA 2011, 2798-2805.

This algorithm is to obtain the travelable region (ground points) of a given point cloud scene by a real time processing way The input is output topic of the LOAM algorithm, which is at https://github.com/laboshinl/loam_velodyne.git

how to compile it? catkin_make is enough

how to use it? roslaunch travelable_region gp_insac.launch