LaserScan Line Segment Extraction (ROS)

Line segment extraction from ROS LaserScan using Douglas-Peucker algorithm.

• Used simplify from Boost library for the Douglas-Peucker algorithm.
• Used laser_geometry for converting LaserScan to PointCloud.
• Used visualization_msgs/Marker for visualization.

Youtube Link: https://www.youtube.com/watch?v=EF6ovIfM_Ug

Running

$ roslaunch extract_line_segments start.launch

Parameters

~douglas_pecker_distance (double, default: 0.1)

​ Distance parameter in the Douglas-Peucker algorithm. Too high values lead to less but inaccurate line segments, too low values lead to many and small line segments.

~neighbor_distance (double, default: 0.5)

​ Maximum distance constraint in meters to add points into the same cluster.

~min_cluster_size (int, default: 5)

​ The minimum number of points required to allow for the cluster to be processed.