Chapter 9: Finding Objects: Perception

Note

This chapter is planned. This page lists what it will cover and the simulations that already exist for it.

Object detection from a LiDAR point cloud in Python: search for neighboring points with a kd-tree, then fit rectangles to the clusters (L-shape fitting).

Sections

• 9.1 Nearest neighbor search with a kd-tree: point_cloud_search

• 9.2 Rectangle fitting: point_cloud_rectangle_fitting

The system so far

The vehicle detects the objects around it as rectangles.

Shown today by point_cloud_rectangle_fitting.

Before this chapter

Chapter 5.