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Hello,
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?
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.
The mapstitch package performs feature detection on two (different) maps. estimates the relative transform between them and generates a stitched/fused map from both.
Asked: 2015-01-28 05:16:02 -0500
Seen: 394 times
Last updated: Jan 28 '15
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