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TypingCat / spatial-topology-teleoperation

Teleoperation for Mobile Robot using Semantics
GNU General Public License v3.0
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Clustering modularization #18

Closed TypingCat closed 3 years ago

TypingCat commented 3 years ago

Before studying intersection double clustering(#17), modularize intersection position clustering first.

TypingCat commented 3 years ago

Test code clustering_birch.py is implemented on ROS2 package waffle_topology. Following video shows the new feature: intersection cluster covariance. It was represented by yellow cylinder, instead of drawing with ellipse as in test code. Note that the BIRCH threshold was set to 0.5m for this test, but the default value is 1.0m.

intersection_clustering_ros