The method allows for efficient volumetric representation of dynamic three-dimensional environments over long periods of time. It's based on combination of a well-established 3D mapping framework called Octomaps [1] and an idea to model environment dynamics by its frequency spectrum [2]. The proposed method allows not only for efficient representation, but also reliable prediction of the future states of dynamic three-dimensional environments. This repository contains the spatio-temporal mapping framework intended for ROS.
- A. Hornung,. K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees in Autonomous Robots, 2013; DOI: 10.1007/s10514-012-9321-0.
- T.Krajnik, J.P.Fentanes, G.Cielniak, C.Dondrup, T.Duckett: Spectral Analysis for Long-Term Robotic Mapping. ICRA 2014.
How to use the software:
- Get a rosbag with octomaps. You can get one here: http://purl.org/robotics/octomaps
- Launch the FRoctomap framework: roslaunch fremen froctomap.launch
- Now, you can save and update the fremen model via services '/save_grid' and '/update_grid'. For parameters, check our paper.
- You can also predict or reconstruct the Octomap by providing relevant timestamp (currently a simple sequence number) via service '/generate_octomap'.
This is just a demo intended for review purposes of TAROS 2014. The full version will be released after the paper presentation (if it's accepted).