How to use Open VSLAM output to perform path planning #117
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Hello, I would like to use Open VSLAM output to perform path planing for my robotic application. Ex: using dijkstra algorithm. Thanks and Regards, |
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You'd need a map like an occupancy grid map (OGM). For now, Openvslam outputs a sparse map of the environment. There are intentions to develop an output denser, just like the OGM, but I don't believe this is a trivial answer. Maybe you could take a look at Rtabmap work/paper to have some insights. They use a dense point cloud and a fitting plane technique to detect the floor, but I'm not sure if this technique would work for sparse PC, maybe if your environment has lots of features... |
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Thank you so much, i will go through it. |
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You'd need a map like an occupancy grid map (OGM). For now, Openvslam outputs a sparse map of the environment. There are intentions to develop an output denser, just like the OGM, but I don't believe this is a trivial answer. Maybe you could take a look at Rtabmap work/paper to have some insights. They use a dense point cloud and a fitting plane technique to detect the floor, but I'm not sure if this technique would work for sparse PC, maybe if your environment has lots of features...