DISCLAIMER

This repository is still WIP and in a pretty early stage. Contributions are kindly appreciated :)

ROS support is still early work in progress.

The ROS build is functional, currently publishing both a regular nav_msgs/OccupancyGrid message and a custom one that includes velocity information. A visualization in RViz is underway.

[WIP] A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application

A ROS(v1) wrapper for the Dynamic Occupancy Grid, which implements A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application.

Initially targetting integration with the CARLA simulation environment. Built using Ubuntu 18.04 (bionic) and ROS Melodic.

References

Nuss et al. "A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application"

Dominik Nuß. "A Random Finite Set Approach for Dynamic Occupancy Grid Maps"

Homm et al. "Efficient Occupancy Grid Computation on the GPU with Lidar and Radar for Road Boundary Detection"

mitkina/dogma has also been a great reference whenever I got stuck.