Sign Detection

Howdy! 🤠

This is a little package I made while in Undergraduate to perform some basic intensity filtering from a LIDAR PointCloud2 message to obtain a filtered pointcloud of street signs.

Video:

Requirements

• ROS-Kinetic (untested with Melodic)
• PCL-ROS

Setup

Git clone to your catkin_ws

Then

cd catkin_ws
rosdep install rosdep install --from-paths src --ignore-src -r -y

LIDAR

This package was tested with the Velodnye VLP-16 LIDAR. With the VLP-16, I was reliabily able to detect stop signs from up to 10 meters away.

In theory, any other LIDAR that outputs a Pointcloud2 message with intensity should work, provided that there is enough points.

Subscribed Topics

• /velodyne_points

Published Topics

• /sd_pointcloud_filtered -- Filtered Pointcloud2 message of the sign
• /sd_distance -- Distance to the sign
• /visualization_marker -- Visualation Marker message of the sign for RViz