Guidance regarding resource

salihmarangoz / robot_laser_grid_mapping

Log odds mapping where the robot pose is known. Works with ROS1.

MIT License

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Guidance regarding resource #1

Closed KenaHemnani closed 3 years ago

KenaHemnani commented 3 years ago

Hii I am not reporting an issue , rather I am sicking guidance. Thank you in advance. Which specific algorithm has been implemented in this code?? It would be helpful if you provide the some resources to understand it. Also, in this algorithm is any specific trajectory you have priorly given??

salihmarangoz commented 3 years ago

I have modified Bresenham Line Algorithm for finding the pixels where laser beam passed through. Original algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm#All_cases

I have implemented log-odds mapping algorithm: http://ais.informatik.uni-freiburg.de/teaching/ws12/mapping/pdf/slam11-gridmaps-4.pdf

If you want to go deeper in this topic in general check the content (slides/videos/assignments) of this lecture: http://ais.informatik.uni-freiburg.de/teaching/ws12/mapping/

KenaHemnani commented 3 years ago

Thank you very much for the quick response and resources!! I shall study it. Thank you.