DynamicSemanticMapping

Scene Flow Propagation for Semantic Mapping and Object Discovery in Dynamic Street Scenes

Required Dependencies:

OctoMap https://octomap.github.io/
Eigen

Install:

git clone https://github.com/ganlumomo/DynamicSemanticMapping.git
git checkout -b demo2 origin/demo2
mkdir build
cd build
cmake ..
make

Run:

./main input_pointcloud.txt

Input Point Cloud Data Format:

Position Scene Flow Semantic Label
x y z delta_x delta_y delta_z i(1-n)