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Merge two OccupancyGridMaps

asked 2012-03-05 10:17:28 -0500

tiko gravatar image

updated 2014-01-28 17:11:34 -0500

ngrennan gravatar image

Hi there,

as the topic says: I want to merge/combine two OccupancyGridMaps.

The conditions: I recieve two messages (nav_msgs/OccupancyGrid) by two services. These two maps have the same resolution, but different postions and size (orientation can be omitted).

My question: Is there an easy way to combine/overlay these maps and build a new map out of these? Or do I have to do this the hard way?

Kind regards, tiko

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answered 2012-03-06 04:11:49 -0500

bhaskara gravatar image

updated 2012-03-06 04:12:32 -0500

The occupancy_grid_utils package (http://www.ros.org/wiki/occupancy_grid_utils) provides a "union of grids" operation.

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answered 2012-03-05 11:01:28 -0500

Mac gravatar image

My advice: convert them to images, work as images, and then convert back. That is, build an OpenCV 8-bit unsigned image for each map, then rotate and translate one appropriately, and then add them together in image space, and switch back to an OccupancyGrid.

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Asked: 2012-03-05 10:17:28 -0500

Seen: 1,866 times

Last updated: Mar 06 '12