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Which line extraction algorithms are used in gmapping and cartographer packages?

asked 2018-07-27 01:33:03 -0500

csg gravatar image

I was wondering which line extraction algorithms are used in gmapping and cartographer packages?

I couldn't find this information on the ROS wiki websites.

Some of the possible options are

  • Split-and-merge
  • Hough-transform
  • RANSAC
  • Incremental
  • Line-regression
  • Expectation maximization

Thanks!

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answered 2018-07-27 17:29:13 -0500

These are 2D planar slam algorithms, not line detectors. I'd recommend just reading the code. Gmapping is very short and Cartographer has more than adequate documentation to guide you in what each are doing, but there is not a line detection component in any of these I do not believe.

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Asked: 2018-07-27 01:33:03 -0500

Seen: 104 times

Last updated: Jul 27 '18