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Occupancy Grid Line Extraction

asked 2018-05-02 15:52:41 -0500

oz_stuttgart
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I'm currently working on line recognition/extraction from occupancy grid maps. Basically the node should extract a set of lines from a occupancy grid map. After an extensive search I did not find anything done in ros on that topic except the laser line extractions nodes that work on laser messages. Does anybody have a hint on this topic or is anybody else working on that? I can't believe that this has not been implemented before.

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answered 2018-05-03 18:06:58 -0500

PeteBlackerThe3rd

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You want to look into the hough line detector in OpenCV.

If you convert the occupancy grid map into an OpenCV Mat object with obstacles set to white and everything else black, then the hough line detector should do exactly what you want.

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This question has a good discussion about converting occupancy maps to cv::Mat images.

PeteBlackerThe3rd ( 2018-05-03 18:09:35 -0500 )edit

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Asked: 2018-05-02 15:52:41 -0500

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Last updated: May 03 '18

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