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README.md

Miscellaneous code and files for ARSO 2017 submitted paper. Includes both viewpoint selection and a map "vectorizer" node, which uses SciPy.

This code includes a "map vectorizer", which takes a ROS map (which is a dense array of occupancy information) and converts it into a vector-specified occupancy map.

on the turtlebot:

roslaunch turtlebot_multi minimal.launch roslaunch turtlebot_multi amcl_demo.launch

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Code for ARSO 2017 paper "Getting the Shot: Socially-Aware Viewpoints for Autonomously Observing Tasks"

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