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.
answered 2011-12-05 07:47:39 -0500Brian Gerkey
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.
Just as a backseat opinion to @Brian Gerkey's, I experienced that the non-existent obstacles/dots in the map influenced path planning with my
turtlebot. Especially when those dots were around the narrow path, robot complained that it couldn't find valid plan. After I modified the
.pgm file to remove those dots/clouded region,
turtlebot began moving toward a given goal.
At one point, I manually edited a map to keep a robot from making a particular navigational choice (I drew a black line onto the pgm). Worked like a charm.
(Just to add something to the list of "fun map tweaks")
Asked: 2011-12-05 07:26:13 -0500
Seen: 170 times
Last updated: Dec 05 '11