Google Cartographer closed loop detection & map completion

asked 2017-05-09 05:34:26 -0500

MarkyMark2012 gravatar image

Hi,

Does anyone know how I can detect from Google's Cartographer when a map is complete, when and area has been previously visited and lastly when a map is complete?

Thanks

Mark

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Comments

Are you wanting to know how to tell by physically looking at the output? Or in code by looking for some "cartographer has finished"-style flag?

M@t gravatar image M@t  ( 2017-07-31 22:36:03 -0500 )edit

I want to determine when the map is complete. In code is how I want to achieve this

MarkyMark2012 gravatar image MarkyMark2012  ( 2017-08-14 01:47:17 -0500 )edit

I don't feel like this is a real answer, but one option might be to try reading the ROS info output - Cartographer seems to output predictable strings when it adds a new submap and finishes it's mapping process. Wouldn't have a clue where to begin though sorry.

M@t gravatar image M@t  ( 2017-08-15 16:50:28 -0500 )edit

@MarkyMark2012 You could use a submap that tracks the covered area and have the total area to discover as a known parameter from ground truth map. Find the ratio of submap / ground truth map area and once this is close to 1, set the "cartographer has finished"-style flag to true.

hunterlineage1 gravatar image hunterlineage1  ( 2023-04-16 01:22:55 -0500 )edit