Extracting lines (walls) from the Lidar sensor measurements. Algorithm is tested on TurtleBot3 in Robot Operating System (ROS). Lines are extracted using recursive Split and Merge algorithm (or Ramer–Douglas–Peucker algorithm)
If you ran Rviz in parallel, you could see the laser scan and visualized walls. On the following images you can see the current position of a in the world, and all the detected walls visualized in Rviz.
| original environment | extracted walls |
|---|---|
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Start the master by runnung roscore. If you want to lanuch an enviroment you have to install Gazebo and run roslaunch turtlebot3_gazebo turtlebot3_world.launch and run main.py script. Also if you want to render the extracted Lines you have to lanuch Rviz and add the visualization_marker_array topic.