occupancy-grid-mapping
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Ashok93
Occupancy grid mapping using Python - KITTI dataset
Occupancy Grid Mapping in Python - KITTI Dataset
An occupancy grid mapping implemented in python using KITTI raw dataset - http://www.cvlibs.net/datasets/kitti/raw_data.php
Dependencies
- Pykitti - For reading and parsing the dataset from KITTI - https://github.com/utiasSTARS/pykitti
- numpy
- matplotlib
- mayavi (if required for visualization)
Make sure to add the dataset downloaded from http://www.cvlibs.net/datasets/kitti/raw_data.php into a folder in the working directory. Please check and modify the get_kitti_dataset function in main.py.
Run python main.py
Used bresenhan_nd.py - the bresenhan algorithm from http://code.activestate.com/recipes/578112-bresenhams-line-algorithm-in-n-dimensions/
Ashok93