Gaussian Density Model

Segmentation algorithm of urban environment, we used the LiDAR Velodyne 64E. The algorithm read and write type files csv.

Input: cloud points (x,y,z,d) where d is density and (x,y,z) without density.

Ouput: cloud points (x,y,z,d) objects segmentation.

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Required Modules:

• PIP
• Numpy
• Math
• Pandas
• CSV
• Matplotlib
• Intertools

Installation:

$ sudo apt update

$ sudo apt upgrade

$ pip install numpy

$ pip install math

$ pip install pandas

$ pip install python-csv

$ pip install matplotlib

$ pip install itertools-s

Example:

$ python GDM.py --help

$ python GDM.py -i iValue

Cite article (In review):

@article{article, author = {A. R. Pedraza, J. J. G. Barbosa, K. L. F. Rodríguez, A. I. G. Moreno and E. A. G. Barbosa}, year = {2019}, month = {}, pages = {}, title = {Free-form object segmentation in urbanenvironments using Gaussian Density Model}, volume = {}, journal = {Latin America Transactions, IEEE (Revista IEEE America Latina}, doi = {10.1109/TLA.} }