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# saeedghsh / Map-Alignment-2D

2D Map Alignment With Region Decomposition

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# Map-Alignment-2D

This package has been developed for 2D Map Alignment With Region Decomposition.

The following article presents the method:

• Saeed Gholami Shahbandi, Martin Magnusson, 2D Map Alignment With Region Decomposition, CoRR, abs/1709.00309, 2017. URL

And Nonrigid Optimization of Multimodal 2D Map Alignment builds on this work.

```# Download
git clone https://github.com/saeedghsh/Map-Alignment-2D.git
cd Map-Alignment-2D

# Install dependencies
pip install -r requirements.txt

# Install the package [optional]
python setup.py install```

Most dependencies are listed in `requirements.txt`. But there are three more, namely opencv, Polygon and arrangement, which should be installed separately.

## Usage Example

For simplicity and convenience, we assume both maps are provided as bitmap (occupancy grid maps). For more examples, see Halmstad Map Collection. Run this:

`python demo.py --img_src 'map_sample/map_src.png' --img_dst 'map_sample/map_dst.png' -multiprocessing -visualize`

And you should see this:

## Simplified Algorithm (without decomposition and arrangement)

The following psudo-code presents the gist of the alignment algorithm proposed in the paper.

``````# modeling
1a) perform region segmentation
1b) find the oriented minimum bounding box (OMBB) for each region (e.g. rotating calipers)

# hypotehsis generation
2a) generate hypotheses (affine transformations), by matching every pairs of OMBB from the two maps
2b) reject hypothesis that are non-similarity transformation

# match score and select a winner
3a) for each hypothesis: find the correspondence between all OMBB from one map to another
3b) calculate the match-score for each hypothesis, and select the one with highest value
``````

## Laundry List

• dump unused methods from `mapali` and `plotting`.
• api documentation.
• full test suite.
• profile for speed-up.
• python3 compatible.

Distributed with a GNU GENERAL PUBLIC LICENSE; see LICENSE.

``````Copyright (C) Saeed Gholami Shahbandi
``````

2D Map Alignment With Region Decomposition