Points in 3D occupancy Grid are classified as free

Hi,

After building the 3D occupnacy grid (occupancyMap3D) I get the following map (the red trajectory is the vehicle's trajectory):

when zooming in on a specific point on the map:

I choose (randomly) the points [472, -86, 7] which is expected to be occupied according to the map.

but when I test for occupancy:

which means the point is classified as free...

What am I missing here?

Thanks

Answer 1

[Sandip Kumar]

Please note the voxels are drawn around a center which is occupied, when you select you might be at the edge of the voxel, which might be accounted with the neighboring voxel which would be free.

A better way would be to checkOccupancy for multiple points around the area of interest, with a code something on these lines:

resolution = 0.5; % or the right resolution for your map

[X,Y,Z] = meshgrid(-resolution:resolution:resolution, ...

-resolution:resolution:resolution, ...

-resolution:resolution:resolution);

ptsOfInterest = [X(:) Y(:) Z(:)] + [ 472 -86 7 ]; % use the point of interest around which you want data

checkOccupancy(map3D,ptsOfInterest)

[boaz boazmenis]

Thanks Sandip!