https://github.com/hku-mars/ROG-Map

https://github.com/hku-mars/ROG-Map

Last synced: about 2 months ago
JSON representation

• Host: GitHub
• URL: https://github.com/hku-mars/ROG-Map
• Owner: hku-mars
• License: gpl-3.0
• Created: 2023-02-24T05:55:33.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2023-03-14T02:34:27.000Z (over 1 year ago)
• Last Synced: 2024-07-02T01:51:39.738Z (3 months ago)
• Size: 1.36 MB
• Stars: 243
• Watchers: 26
• Forks: 14
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# ROG-Map

### ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning

**Preprint**: https://arxiv.org/abs/2302.14819

```

@article{ren2023rogmap,

    title={ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning},

    author={Yunfan Ren and Yixi Cai and Fangcheng Zhu and Siqi Liang and Fu Zhang},

    journal={arXiv preprint arXiv:2302.14819},

    year={2023}

}

```

Click for the video demo.

[![Video Demo](./img/out.png)](https://www.youtube.com/watch?v=eDkwGXCea7w)

# 1 About ROG-Map

## 1.1 What can ROG-Map do?

The ROG-Map is an occupancy grid map (OGM), and all methods based on OGM can be seamlessly implemented on ROG-Map, including:

* A* path search.

* Flight corridor generation.

* Frontier generation for autonomous exploration.

* Point collision check and line segment collision check.

* Box search.

* ...

We will provide numerous examples to help you apply ROG-Map to your own projects.

## 1.2 What are the differences compared to existing methods?

* Using a zero-copy map sliding strategy, ROG-Map maintains only a local map near the robot, enabling it to handle large-scale scene missions in unbounded environments.

* A novel incremental inflation method significantly decreases the computation time of obstacle inflation.

## 1.3 How can I test it?

When the code is released, you can test it with

1. Run with [FAST-LIO: A computationally efficient and robust LiDAR-inertial odometry (LIO) package](https://github.com/hku-mars/FAST_LIO)

   1. Building a robocentric occupancy grid map directly using FAST-LIO as input.

2. Run with [MARSIM](https://github.com/hku-mars/MARSIM)

   1. With MARSIM, you can test your own motion planning algorithms based on ROG-Map.

# 2 Date of code release

Our paper is currently under review, and **the code of ROG-Map will be released as our work is accepted**.