请问如何构建先验的gmm地图呢？

[lswzlh]

你好，我有一个问题，就是如何构建基于gmm的先验地图呢？是把原始的点云地图按一定网格分割，然后分别对每个网格计算gmm吗？

[HyHuang1995]

Hello, for GMM generation, we simply using scikit-learn on several segments of the raw data. Segments are extracted to avoid memory issue in clustering.

The method you referred is similar to the Normal Distribution Transform (NDT), which I believe, personally, should be the better solution for the map generation and management. But sorry that I did not try it out so at this time I can't tell whether NDT solution can be directly applied into the current system.