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Can someone explain the following sentence or with an image maybe ?
A clearing operation, however, consists of raytracing through a grid from the origin of the sensor outwards for each observation reported.
Thank you !
Sensor data gives you two things: Where an obstacle is and where an obstacle isn't. Imagine you have a single laser that starts at point A encounters an obstacle at point B.
The marking operation is putting a lethal value in the costmap at point B.
The clearing operation is taking all the points between A and B and marking them as free space.
The process of finding the line is often referred to as ray tracing, and is explained here: http://en.wikipedia.org/wiki/Bresenha...
Asked: 2014-08-21 13:05:45 -0600
Seen: 380 times
Last updated: Aug 21 '14
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