Questions tagged [occupancygrid]

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How to evaluate a cost map?

I do have a cost map, which was computed from a few different characteristics of the terrain. How can I say, if a cost map is good mathematically? I can only look at it and see, that it has higher ...
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8 views

loop closing in grid based fastslam 2.0

I understand how grid based fastslam 2.0 works I just would like to know how to implement a loop closure functionality in a grid-based fastslam 2.0? Since at each state we only consider the last state ...
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29 views

path planning by means of geometric map

I'm having trouble understanding how to use geometric map in path planning task using algorithms like potential field or elastic band which I always see use occupancy grid. By geometric map I mean a ...
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79 views

Sensor model and Inverse sensor model using occupancy grid mapping with lidar for particle filter

I'm a bit confused about how one goes about calculating the sensor model $p(z_t|x_t, m) $ and inverse sensor model for position $p(x_t |z_t,m_{t-1})$. From this answer, it seems like one way for ...
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1answer
102 views

Do we need a backend graph optimizer for OctoMap?

As far as I know, OctoMap or any other grid occupancy maps are only for mapping. How do they handle a loop closure problem? The first method came to my mind is optimizing a pose graph in the backend ...
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2answers
893 views

How to evaluate 3D Occupancy grid maps

I would like to know how to go about evaluating 3D occupancy grid maps. I have a SLAM system that produces a 3D OGM (in .bt format using octomap/octovis) I also have a ground truth OGM in same .bt ...
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2answers
520 views

How does fast slam creates grid maps?

I've implemented fast slam using landmark detection and the map stored is a feature map, made of landmarks positions. I would like to create a grid map, and my questions are about how does the robot ...
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1answer
253 views

In order to integrate MCL and Occupancy Grid to implement Grid-based FastSLAM, do you have to record all data?

It's unclear as to how one goes about integrating Occupancy Grid mapping and Monte Carlo localization to implement SLAM. Assuming Mapping is one process, Localization is another process, and some ...
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1answer
133 views

Grid mapping probability calculation algorithmic complexity

I have stumbled upon an equation (http://i.stack.imgur.com/hv64E.png), where the probability of an occupancy grid map cell is calculated. My teacher insists that it's possible to approximate the ...
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3answers
324 views

Can mapping be done in real life applications without also solving the localization problem at the same time (i.e. SLAM)?

I know that Occupancy Grid Mapping requires the assumption that the robots' pose is always known when generating a map. However, I also know that in reality, position and orientation usually treated ...
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1answer
117 views

Finding changes in environment using 2d laser

I have known map of the environment (2d occupancy grid map). I am trying to find if anything changed in environment using 2d laser while navigating by using maximum likelihood of laser with known map. ...