This algorithm library was implemented with the intention of recognizing and separating rooms from a ROS OccupancyGrid created by many mapping algorithms such as SLAM.
As input the algorithm takes an OccupancyGrid integer array, -1 marking unknown, 0 free and 100 occupied cells. It generates a 3x3 cell average, and then produces a similar occupancy grid of the separated rooms. In the resulting array 0 marks unknown and values 1+ mark room numbers.
This algorithm was developed as a part of Aalto University School of Electrical Engineering's Intelligent Robotics group project work. The project is Autonomous Mapping of Dynamic Environments, AMDE.
Copyright (c) 2017 Samuli Peurasaari
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