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dogm_ros

★ 17 Open GitHub ↗

ROS Wrapper for Dynamic-Occupancy-Grid-Map

// repository documentation

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# DISCLAIMER

This repository is still WIP and in a pretty early stage. Contributions are kindly appreciated :)
# ROS support is still early work in progress.

The ROS build is functional, currently publishing both a regular nav_msgs/OccupancyGrid message and a custom one that includes velocity information.   A visualization in RViz is underway.

# [WIP] A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application

A ROS(v1) wrapper for the [Dynamic Occupancy Grid](https://github.com/idlebear/dynamic-occupancy-grid-map), which implements [A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application](https://arxiv.org/abs/1605.02406).

Initially targetting integration with the [CARLA](https://github.com/carla-simulator/) simulation environment.  Built using Ubuntu 18.04 (bionic) and [ROS Melodic](http://wiki.ros.org/melodic).

## References

Nuss et al. ["A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application"](https://arxiv.org/abs/1605.02406)

Dominik Nuß. ["A Random Finite Set Approach for Dynamic Occupancy Grid Maps"](https://d-nb.info/1133544290/34)

Homm et al. ["Efficient Occupancy Grid Computation on the GPU with Lidar and Radar for Road Boundary Detection"](https://mediatum.ub.tum.de/doc/1287438/726193.pdf)

[mitkina/dogma](https://github.com/mitkina/dogma) has also been a great reference whenever I got stuck.

dogm_ros

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