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  • Part 0 (๊ฐœ์š”)
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    • chapter03 : ROS ์‹ค์Šต ์ค€๋น„(100%)
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    • Filter
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    • Chapter03 : Sample Consensus
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  • Part 3 (๊ณ ๊ธ‰)
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  • Appendix
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    • ์‹œ๊ฐํ™”ํˆด
    • Annotationํˆด
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INTRO

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๊ฐœ์š”

Point cloud Library(PCL)๋Š” LIDAR๋‚˜ RGB-D์„ผ์„œ์˜ 3D ๋ฐ์ดํ„ฐ ์ฒ˜๋ฆฌ๋ฅผ ์œ„ํ•ด ํ•„์ˆ˜์ ์ธ ํˆด ์ค‘ ํ•˜๋‚˜์ž…๋‹ˆ๋‹ค. ํ•˜์ง€๋งŒ ๊ฐœ๋ฐœ์ž ํ™ˆํŽ˜์ด์ง€๋ฅผ ์ œ์™ธ ํ•˜๊ณ ๋Š” ์ •๋ฆฌ ๋˜์–ด ์žˆ๋Š” ๋ฌธ์„œ๋‚˜ ์งˆ๋ฌธ/์˜๊ฒฌ์„ ๊ต๋ฅ˜ ํ•  ์ˆ˜ ์žˆ๋Š” ๊ณณ์ด ์ ์€ ๊ฒƒ ๊ฐ™์Šต๋‹ˆ๋‹ค.

๊ทธ๋™์•ˆ ์ตํ˜”๋˜ ๋‚ด์šฉ ๋ฐ ์ฝ”๋“œ๋„ ์ •๋ฆฌํ•˜๊ณ  ๋‹ค๋ฅธ๋ถ„๋“ค์—๊ฒŒ ์กฐ๊ธˆ์ด๋ผ๋„ ๋„์›€์ด ๋˜๊ณ ์ž Tutorialํ˜•์‹์œผ๋กœ ์ž‘์„ฑ ํ•˜๊ฒŒ ๋˜์—ˆ์Šต๋‹ˆ๋‹ค.

  • ๊ธฐ๋ณธ ๋‚ด์šฉ์€ PCL ํ™ˆํŽ˜์ด์ง€์˜ ์™€ ๋ฅผ ์ค‘์‹ฌ์œผ๋กœ ํ•˜์˜€์Šต๋‹ˆ๋‹ค.

  • ๊ทธ ์™ธ ์ฐธ๊ณ ํ•œ ์—ฌ๋Ÿฌ ์ž๋ฃŒ๋“ค์€ ํŽ˜์ด์ง€์— ๋ณ„๋„ ์—…๋ฐ์ดํŠธ ํ•˜๋„๋ก ํ•˜๊ฒ ์Šต๋‹ˆ๋‹ค.

  • PCL์— ๋Œ€ํ•œ ์ •๋ณด ๊ณต์œ ๋‚˜ ๊ถ๊ธˆํ•œ์ ์€ ์— ์˜ฌ๋ ค ์ฃผ์„ธ์š”.

  • Tutorial์€ , , ์— ๋™์‹œ ์ €์žฅ๋˜์–ด ์žˆ์Šต๋‹ˆ๋‹ค.

๋ฌธ์„œ ๊ตฌ์„ฑ ๋ฐ ๋‚ด์šฉ

์ „์ฒด ๋ฌธ์„œ๋Š” ์ดˆ๊ธ‰/์ค‘๊ธ‰/๊ณ ๊ธ‰์œผ๋กœ ๋‚˜๋ˆ„์–ด์ ธ(Part 1~3) ์žˆ์œผ๋ฉฐ, ๊ฐ ๋ฌธ์„œ์—๋Š” ์ด๋ก , ๊ฐ Library๋ณ„ ์ฝ”๋“œ, ์‹ค์Šต์œผ๋กœ ๊ตฌ์„ฑ ๋˜์–ด ์žˆ์Šต๋‹ˆ๋‹ค.

์ด๋ก 

์ดˆ๊ธ‰์—์„œ๋Š” PCL์—์„œ ์ œ๊ณตํ•˜๋Š” ๊ธฐ๋Šฅ๋“ค์„ ๊ธฐ๋ฐ˜์œผ๋กœ 3D ๋ฐ์ดํ„ฐ ์ „์ฒ˜๋ฆฌ, ํ•„ํ„ฐ๋ง๋ฅผ ๋‹ค๋ฃจ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.

์ค‘๊ธ‰์—์„œ๋Š” PCL์—์„œ ์ œ๊ณตํ•˜๋Š” ๊ธฐ๋Šฅ๋“ค์„ ๊ธฐ๋ฐ˜์œผ๋กœ Clustering, Classification, Octree, Registration๋ฅผ ๋‹ค๋ฃจ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.

๊ณ ๊ธ‰์—์„œ๋Š” ์ตœ๊ทผ ํŠธ๋žœ๋“œ์ธ ๋”ฅ๋Ÿฌ๋‹์„ ์ด์šฉํ•˜์—ฌ ์ดˆ๊ธ‰/์ค‘๊ธ‰์—์„œ ์‚ดํŽด๋ณธ ์ƒ˜ํ”Œ๋ง, Classification ๋“ฑ์„ Deep Neural Network๋ฅผ ์ด์šฉํ•˜์—ฌ ๊ตฌํ˜„ํ•ด ๋ณด๋ ค ํ•ฉ๋‹ˆ๋‹ค.

๊ฐ Library๋ณ„ ์ฝ”๋“œ

๊ฐ ์ด๋ก ๋ณ„ ์ฝ”๋“œ์—์„œ๋Š” PCL C++, PCL-Python, Open3D-Python๋ณ„ ์ƒ˜ํ”Œ ์ฝ”๋“œ๋ฅผ ํฌํ•จํ•˜๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.

์‹ค์Šต

์‹ค์Šต์€ ROS๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ์ง„ํ–‰ ๋ฉ๋‹ˆ๋‹ค.

์‹ค์Šต ์ดˆ/์ค‘๊ธ‰์—์„œ๋Š” Velodyne Puck 16ch ๋ผ์ด๋‹ค๋ฅผ ์ด์šฉํ•˜์—ฌ ์‹ค์ œ๋กœ ์ˆ˜์ง‘ํ•œ ๋ฐ์ดํ„ฐ์—์„œ ์œ„ ์ด๋ก ๋‚ด์šฉ๊ณผ ์ฝ”๋“œ๋“ค์„ ํ™œ์šฉํ•˜์—ฌ ์žฌ์‹ค์ž ํƒ์ง€๋ฅผ ์ง„ํ–‰ ํ•ฉ๋‹ˆ๋‹ค.

์‹ค์Šต ๊ณ ๊ธ‰์—์„œ๋Š” KITTI ๋ฐ ์˜คํ”ˆ๋ฐ์ดํ„ฐ์…‹์„ ์ด์šฉ ์ด์šฉํ•˜์—ฌ ์ฐจ๋Ÿ‰ ํƒ์ง€๋ฅผ ๋ชฉ์ ์œผ๋กœ ์ง„ํ–‰ ํ•ฉ๋‹ˆ๋‹ค.

[PCL๋ฌธ์„œ]
[Udacity๊ฐ•์ขŒ]
References
[ํŽ˜์ด์Šค๋ถ PCL Research Group KR]
์ดˆ์•ˆ(Gitbook)
๋ฐฑ์—…(Github)
์ตœ์ข…๋ณธ