laser_segmentation
- Software
- Perception
- Library
A ROS2 package that splits 2D laser scans into segments of beams using jump-distance clustering methods, with an online-reconfigurable interface.
Source on GitHub: github.com/ajtudela/laser_segmentation (opens in a new tab). Facts read at commit 22d0f4d (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 22d0f4d (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Splits laser scans into subsets of beams whenever the distance between adjacent beams exceeds a threshold.
- Offers a jump distance clustering method and a variant that merges over-segmented small clusters, common outdoors.
- Can compute a dynamic jump distance threshold using the Lee, Dietmayer or Santos methods.
- Filters segments by point count, average distance from the sensor, and width.
- Publishes the resulting segments and RViz2 markers for segments, their ids and centroids.
- Parameters and filters can be changed online through a dynamic reconfigure server.
Written by Robotheca from the project's README (opens in a new tab) at commit 22d0f4d.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 3 Aug 2026 on main
- Latest release
- 3.0.3 (6 Feb 2025)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.