This block use OpenCV and GrabCut to perform foreground segmentation and extraction.

This block makes image segmentation in the input image using cv:filter2D, cv:distanceTransform and cv:watershed.

This block finds contours in the input image using cv.Canny and cv.findContours.

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping