Mapping

Gaussian grid map

This is a 2D Gaussian grid mapping example.

2

Ray casting grid map

This is a 2D ray casting grid mapping example.

3

k-means object clustering

This is a 2D object clustering with k-means algorithm.

4

Object shape recognition using circle fitting

This is an object shape recognition using circle fitting.

5

The blue circle is the true object shape.

The red crosses are observations from a ranging sensor.

The red circle is the estimated object shape using circle fitting.