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overlapping occupancy grid maps

asked 2017-11-06 18:04:13 -0600

fandrade gravatar image


I need to overlap two pose estimation (from the particle filter) with the map asociated to each of them (the map is the same). After that i need to merge both maps.

As a first step I am choose one pose estimation as fixed and I am trying to rotate and translate the otherone to overlap the fixed one (map included). The problem is that I dont know how to rotate and translate de occupancy grid map.

An image with the problem description is attached. Thanks in advance!image description

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answered 2017-11-08 21:07:52 -0600

fandrade gravatar image

I finaly could resolve this problem. The way I did it was 1) Calculate the offset between fixed pose and the other pose 2) Create a frame (with tf2 tools) applying the translation and rotation between the poses 3) Then copy the original map, and set the frame_id with the frame created in 2)

You can see the results in the picture. image description

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Asked: 2017-11-06 18:04:13 -0600

Seen: 1,414 times

Last updated: Nov 08 '17