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Mapping

2-D and 3-D occupancy maps, egocentric maps, raycasting

Occupancy maps are used to represent obstacles in an environment and define limits of your world. You can build maps and update obstacle locations from sensor readings using raycasting. Sync with existing maps and move local frames to create egocentric maps that follow your vehicle. Maps support binary and probabilistic values for 2-D maps and a probabilistic representation for 3-D maps.

Use these maps along withMotion Planningto plan paths in a map, or useLocalization and Pose Estimationalgorithms to estimate your vehicle pose in an environment.

Objects

binaryOccupancyMap Create occupancy grid with binary values
occupancyMap Create occupancy map with probabilistic values
occupancyMap3D Create 3-D occupancy map
mapLayer Create map layer forN-dimensional data
multiLayerMap Manage multiple map layers

Functions

buildMap Build occupancy map from lidar scans
checkOccupancy Check locations for free, occupied, or unknown values
exportOccupancyMap3D Import an octree file as 3D occupancy map
getOccupancy Get occupancy value of locations
getMapData Retrieve data from map layer
importOccupancyMap3D Import an octree file as 3D occupancy map
inflate Inflate each occupied grid location
insertRay Insert ray from laser scan observation
insertPointCloud Insert 3-D points or point cloud observation into map
mapClutter 生成地图随机分散的障碍
mapMaze Generate random 2-D maze map
move Move map in world frame
occupancyMatrix Convert occupancy grid to double matrix
raycast Compute cell indices along a ray
rayIntersection Find intersection points of rays and occupied map cells
setOccupancy Set occupancy value of locations
setMapData Assign data to map layer
syncWith Sync map with overlapping map
show Show grid values in a figure
updateOccupancy Integrate probability observations at locations

Topics