Segmentation

We want to be able to locate obstacles in the scene. However, some objects in our scene our not obstacles. What would be objects that appear in the pcd but are not obstacles? For the most part, any free space on the road is not an obstacle, and if the road is flat it’s fairly straightforward to pick out road points from non-road points. To do this we will use a method called Planar Segmentation which uses the RANSAC (random sample consensus) algorithm.