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I have a map of my house generated by gmapping and now I am using it with amcl for navigation. Does it make sense to clean up the map in an image editor? For example, if you have a hallway wall that is slightly jagged in the original map, does it make sense to replace the original pixels with a perfectly straight line? I'm just wondering if this would help or hinder amcl for subsequent navigation.


Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2011-12-05

Post score: 3


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Cleaning up the map as you're suggesting shouldn't hurt localization performance, but probably won't help either. By default, amcl uses a likelihood field model when interpreting laser data; this model has the effect of "blurring" the obstacles in the map, so moving a pixel a bit one way or the other won't have a huge effect.

If you compare performance with both maps, I'd be interested to know the results.

Originally posted by Brian Gerkey with karma: 2916 on 2011-12-05

This answer was ACCEPTED on the original site

Post score: 4

Original comments

Comment by Pi Robot on 2011-12-05:
Thanks Brian! I'm about to run some amcl endurance tests with the TurtleBot. If I get time to run them with different versions of the map, I'll post back the results.

Comment by Kishore Kumar on 2016-08-30:
Can i draw a complete map(.pgm file) on my own and feed that to Robot for navigation? if so how can this be accomplished?

Comment by pallavbakshi on 2017-02-02:
@Kishore Kumar - Did you find a way? Even though that should be highly unlikely since the map was constructed without odometry and it will hard to make the map interactive on RVIZ.


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