ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How to create ground truth for the map from ROS

asked 2021-09-10 06:05:28 -0600

Bigby gravatar image

updated 2021-09-10 06:08:04 -0600

dornhege gravatar image

Hi everyone. I am new to ROS and I am using Octomap to create a 3D map of a lab. I would like to know how to create ground truth for the map from ROS and how to compare the map that I produce using Octomap with the ground truth.

  • How to get ground truth for a 3D map
  • How to compare 3D map produced from Octomap to ground truth
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2021-09-10 10:08:24 -0600

Airuno2L gravatar image

You could make a CAD model of the lab (using something like Solidworks, Fusion 360, or TinkerCAD) and output it as a .stl or COLLADA file (.dae), then display that model in rviz as a mesh resource.

You'll need to figure out the details of lining up the coordinate systems of your ground truth model and the map you're making, but that shouldn't be too difficult.

edit flag offensive delete link more

Question Tools


Asked: 2021-09-10 06:05:28 -0600

Seen: 153 times

Last updated: Sep 10 '21