README.md

segmented_pointcloud

2d segmentation output used for point cloud processing ReZoom E-Scooter https://github.com/REZOOM-UMD/escooter/tree/dev_mi

Semantic segmentation of the e-scooter(ReZoom 2.0 and 3.0) pathway to distinguish road from sidewalk and grass using Jetson Developer Kit and ZED stereo camera.

All samples taken inside the University of Maryland,CP.

ReZoom 2.0

Semantic segmentation Overlay and Mask(Using cityscape dataset)

Point Cloud Processing to filter out obstacle space (Viewed with pcl_viewer)

Libraries used : rosbag,pcl_ros,pypcd,open3D

Requirements

• Jetson Segmentation package
• ZED SDK
• ZED ROS Wrapper

Code Flow: