  Obstacle detection is one of the basic tasks of a robot movement in an
unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor
allows one to obtain a point cloud in the vicinity of the sensor. After
processing this data, obstacles can be found and recorded on a map. For this
task, I present a pipeline capable of detecting obstacles even on a
computationally limited device. The pipeline was also tested on a real robot
and qualitatively evaluated on a dataset, which was collected in Brno
University of Technology lab. Time consumption was recorded and compared with
3D object detectors.
