We present Segregator, a global point cloud registration pipeline using both semantic and geometric information.

###Test Environment

• Linux 18.04 LTS
• ROS Melodic

###How to Build Run the following lines for denpandencies:

sudo apt install cmake libeigen3-dev libboost-all-dev

Then create a catkin workspace and clone the repo:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone git@github.com:Pamphlett/Segreagator.git
cd Segregeator && mkdir build && cd build
cmake ..
mv pmc-src/ ../../../build/
cd ~/catkin_ws
catkin build segregator 

With the provided scans in the materials folder, run the following lines in the catkin workspace for a toy example:

source devel/setup.bash
roslaunch segregator run_segregator.launch