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Extraction of features from rviz map

asked 2015-01-28 05:16:02 -0500

sam3891 gravatar image


In my project, I am required to evaluate accuracy of rviz map generated using GMapping algorithm on a robotino. I need to develop a repeatable method to extract features (not the 'measure' tool in rviz) and determine the distance between them on the map and compare it to measured real-world distances. How do I go about extracting the features from an rviz map?

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answered 2015-01-28 07:48:13 -0500

updated 2015-01-28 07:50:28 -0500

You can interpret the map as an image and do standard image processing on it, for example using OpenCV. This way, you can run different feature detectors/descriptors on the map and use those. An example of doing exactly that is provided in the mapstitch package that allows aligning maps which each other. The code for converting a map to a cv:Mat is here.

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Thank you. So I take the stored rviz map and run the code (that converts to a cv:Mat), this will give me an image, then I run image processing algorithms using OpenCV, have I understood it right? What is the usage of the mapstitch package?

sam3891 gravatar image sam3891  ( 2015-01-28 08:29:13 -0500 )edit

The mapstitch package performs feature detection on two (different) maps. estimates the relative transform between them and generates a stitched/fused map from both.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2015-01-31 16:57:07 -0500 )edit

Thanks. I will try it out.

sam3891 gravatar image sam3891  ( 2015-02-04 03:13:24 -0500 )edit

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Asked: 2015-01-28 05:16:02 -0500

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Last updated: Jan 28 '15