A Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation
A Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation
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DOI：
10.1007/978-3-319-26054-9_5
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发表时间：
2016-01-01
期刊：
影响因子：
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通讯作者：
Hutter, Marco
中科院分区：
文献类型：
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作者：
Fankhauser, Peter;Hutter, Marco
在本研究章节中，我们介绍了我们在通用网格地图库方面的工作，该库用作移动机器人的地图框架。它专为广泛的应用而设计，例如在线表面重建和崎岖地形导航的地形解释。我们的软件具有多层地图、计算高效的地图边界重新定位以及与现有 ROS 地图消息类型的兼容性。数据存储基于线性代数库 Eigen，提供广泛的数据处理算法。本章概述了如何将网格地图库集成到读者自己的应用程序中。我们解释概念并提供代码示例来讨论软件的各种功能。作为一个用例，我们展示了该库的应用程序，用于使用有腿机器人进行在线高程测绘。网格地图库和以机器人为中心的高程测绘框架可在 http://github.com/ethz-asl/grid_map 和 http://github.com/ethz-asl/elevation_mapping 上开源。
In this research chapter, we present our work on a universal grid map library for use as mapping framework for mobile robotics. It is designed for a wide range of applications such as online surface reconstruction and terrain interpretation for rough terrain navigation. Our software features multi-layered maps, computationally efficient repositioning of the map boundaries, and compatibility with existing ROS map message types. Data storage is based on the linear algebra library Eigen, offering a wide range of data processing algorithms. This chapter outlines how to integrate the grid map library into the reader's own applications. We explain the concepts and provide code samples to discuss various features of the software. As a use case, we present an application of the library for online elevation mapping with a legged robot. The grid map library and the robot-centric elevation mapping framework are available open-source at http://github.com/ethz-asl/grid_map and http://github.com/ethz-asl/elevation_mapping.