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Insert a 2D map (pgm+yaml) from which to start mapping or in which to locate yourself.

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Stefacco

Insert a 2D map (pgm+yaml) from which to start mapping or in which to locate yourself.

Hello,

I am working with an indoor drone and need to provide it with a floor plan (pgm + yaml) from which it can begin to locate itself or from which it can then begin to extend the mapping.
Is it possible to achieve a similar result?

Thank you in advance!

matlabbe

Re: Insert a 2D map (pgm+yaml) from which to start mapping or in which to locate yourself.

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If I understand correctly, you want to localize the drone in a 2D occupancy grid prior to map with rtabmap... you may look at AMCL, though it assumes that the data the drone is seeing is 2D to be able to match with the 2D occupancy grid. Does your drone have a 2D lidar?