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TypingCat / spatial-topology-teleoperation

Teleoperation for Mobile Robot using Semantics
GNU General Public License v3.0
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Local topology extraction test #6

Closed TypingCat closed 3 years ago

TypingCat commented 3 years ago

I'd like to test how well it extracts topology. LiDAR publish observations at 12Hz, but it is slower in the topology extraction process. The extraction area is limited to 5m x 5m.

TypingCat commented 3 years ago

Here is a simple video of the robot extracting the local topology.

extract_topology

This robot is moving from the hallway to the room. The black area is the empty space detected by LiDAR. The robot extracts a local topology from this area. Topology is represented by points and lines. Yellow points are intersection nodes and red points are end nodes. Edges show movability between nodes.

TypingCat commented 3 years ago

The test results are as follows: