📌 This paper has been accepted for publication in IEEE Robotics and Automation Letters (RA-L), 2025.

Accurate Pose Refinement of Detected Vehicles Using LiDAR Point-to-Surfel ICP and Vehicle Shape Priors

Repository for paper "Accurate Pose Refinement of Detected Vehicles Using LiDAR Point-to-Surfel ICP and Vehicle Shape Priors"

This repository provides code of prior model-based detection refinement module.

System architecture

Detection improvement (mIoU) results by various voxel size

Method

1. Downsample vehicle prior model into Surfel Model

Downsampling CAD model to Surfel model

2. Execute 4-DoF Point-to-Surfel registration.

Refinement process

Demo

• Stop Scenario Comparision

(Left) Tracking without refinement : Due to unstable detection, static objects become dynamic (Right) Tracking with refinement : Static due to stable detection

📦 Prerequisites & Installation

Dependencies

This project depends on standard ROS packages and PCL.

• ROS 1 (Noetic recommended)
• PCL (Point Cloud Library)
• JSK Recognition Msgs (For bounding box interface)

  sudo apt-get install ros-noetic-jsk-recognition-msgs
  sudo apt-get install ros-noetic-jsk-rviz-plugins

Sample Bag File

Download in Download Link

Build

cd ~/catkin_ws/src
git clone https://github.com/ailab-hanyang/CAD_Refinement
catkin_make
source devel/setup.bash

🏃Run Algorithm

1. Execution

# 1. Run your Object Detector (Output must be jsk_recognition_msgs/BoundingBoxArray)
# ...
# 2. Run CAD Registration Node
roslaunch cad_registration cad_registration.launch

2. Input / Output Topics

• Input:

  • LiDAR Point Cloud (sensor_msgs/PointCloud2)
  • Detected Objects (jsk_recognition_msgs/BoundingBoxArray)

• Output:

  • Refined Objects (jsk_recognition_msgs/BoundingBoxArray) : app/perc/jsk_refined_objects
  • Refined Point Cloud (sensor_msgs/PointCloud2) : app/perc/refined_cad_pc_
  • Surfel Visualization (visualization_msgs/MarkerArray) : ego_surfel

📝 Citation

If you find this work useful in your research, please cite:

@article{kim2025accurate,
  title={Accurate Pose Refinement of Detected Vehicles Using LiDAR Point-to-Surfel ICP and Vehicle Shape Priors},
  author={Kim, Soyeong and Jo, Jaeyoung and Lee, Jaehwan and Jo, Kichun},
  journal={IEEE Robotics and Automation Letters},
  year={2025},
  publisher={IEEE}
}

📧 Contact

If you have any questions, please let me know:

• Soyeong Kim (soyeongkim@hanyang.ac.kr), Jaeyoung Jo (wodud3743@gmail.com), Jaehwan Lee
• AILAB Hanyang University (https://autolab.hanyang.ac.kr/)