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new component "LaserScannerFeatureExtraction"

Fabian Reister requested to merge feature/laser-scanner-feature-extraction into master

This new component does the following:

  • clusters the full scan into segments based on laser-scanner specific properties (inspired by already existing implementation in LaserScannerSelfLocalization)
  • detects relevant features
    • convex hull
    • approximated line
    • minimum volume enclosing ellipse
    • minimum volume enclosing circle

Lines and convex hull:

arviz-lines

Ellipses (on cluster level):

arviz-ellipses

Ellipses ("star shape"):

arviz-star-shape-ellipses

Edited by Fabian Reister

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