puzzle about the construction of occupancy grid map

[GongYanfu]

What algorithm is used for the occupancy grid map in the paper? gmapping, hector-slam or else? perhaps this is not the key point, but it puzzles me.

[GongYanfu]

I think it should be gmapping.

[jkulhanek]

We do not construct occupancy maps I believe.

[GongYanfu]

Do you sure that the map of the real environment is not needed for getting images ?

[jkulhanek]

Positive. I collected the images by manually passing the sequence of positions.

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From: GongYanfu @.> Sent: Tuesday, September 6, 2022 1:04:10 PM To: jkulhanek/robot-visual-navigation @.> Cc: Jonáš Kulhánek @.>; Comment @.> Subject: Re: [jkulhanek/robot-visual-navigation] puzzle about the construction of occupancy grid map (Issue #18)

Do you sure that the map of the real environment is not needed for getting images ?

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[GongYanfu]

In the virtual environment, how does the algorithm determine whether the agent has reached the goal? I didn't find the corresponding code.

[jkulhanek]

https://github.com/jkulhanek/robot-visual-navigation/blob/58403e7c6277c9828272a42a98116c397cce7cc8/python/environment/image_collection_environment.py#L235

[GongYanfu]

This function is_goal is for the environment constructed by images we got from real environment, no for the virtual environment.

[jkulhanek]

Oh, I see, I am sorry, the code is here: https://github.com/jkulhanek/dmhouse/blob/c68e9a4f0f4ac5c5e73ea96d7c9b8fcdaa3a68d9/game_scripts/custom/hit_goal_decorator.lua#L21