Occupancy Grid

[adiasija2011]

Hello,

I hope this finds you well,

Is it possible to implement occupancy grids in driver dojo.

Regards,
Adi

[seawee1]

Hi Adi,

sure thing. It should be very easy to implement. If you're motivated you can have look at the RadiusVehicleObserver, where non-ego transform query and accumulation are already implemented. You would just have to convert this into an occupancy grid. Issue a pull request if you did so.
If it would really help you I can also have a look.

Regards,
Sebastian

[adiasija2011]

Dear Sebastian, Thanks a lot for your help , I will get back to you soon Regards Adi

…

On Tue, 5 Jul, 2022, 5:29 pm Sebastian Rietsch, ***@***.***> wrote: Hi Adi, sure thing. It should be very easy to implement. If you're motivated you can have look at the RadiusVehicleObserver, where non-ego transform query and accumulation are already implemented. You would just have to convert this into an occupancy grid. Issue a pull request if you did so. If it would really help you I can also have a look. Regards, Sebastian — Reply to this email directly, view it on GitHub <#9 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AF3MKJIGBXHSMW4THCAG2H3VSQPSVANCNFSM52IGQOTA> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[adiasija2011]

Hi Adi,

sure thing. It should be very easy to implement. If you're motivated you can have look at the RadiusVehicleObserver, where non-ego transform query and accumulation are already implemented. You would just have to convert this into an occupancy grid. Issue a pull request if you did so. If it would really help you I can also have a look.

Regards, Sebastian

Hi Sebastian,

I looked into the RadiusVehicleObserver class, the class returns information about vehicles around the ego vehicle in a certain region.

However, for my problem I want to create discrete occupancy grid type cells on the road relative to the ego vehicle, that only there should not be any other vehicle or any object on the occupancy grid cell or cells occupied by the ego vehicle but two human driven vehicles can be on the same cell.

I am currently working on a deadline and would really appreciate any help I can get !!

Regards
Adi Asija

[seawee1]

Hi Adi,

I might try on the weekend but I can't promise anything. Regarding the RadiusVehicleObserver, you're totally correct. What you would have to do is use the outputs of the RadiusVehicleObserver and bin them into a 2D grid, similar to a 2D histogram, but capped to values 0 or 1. This then would be your occupancy grid.

Kind regards
Sebastian

[seawee1]

I added it to the next milestone!

[adiasija2011]

Thank you so much for helping out, I really need all the help I can get !

I am currently trying to implement your idea, I would give you an update by tomorrow

[seawee1]

Hi, I also started with the implementation. I'll let you know once it's ready.

[adiasija2011]

Hey @seawee1,

Were you able to make any progress , I am stuck in figuring out how I will keep track of occupancy grids.

Regards

Adi