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.
Thanks!
patrick
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
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