Re: grid_map versus proj_map for same bag data

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/grid-map-versus-proj-map-for-same-bag-data-tp1779p1792.html

Hi,

All points with normal close to +z axis (up to a fixed angle) are segmented, then clustered together. The biggest plane is considered the ground. Depending on the parameters, the other planes can be considered as ground or obstacles. We can also set a maximum height for the ground detection. It is similar to rtabmap_ros/obstacles_detection nodelet.

cheers