Find corners obstacles in BinaryOccupancymap

Question

Andrea Arcarisi 2023-11-5

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2043307-find-corners-obstacles-in-binaryoccupancymap

回答： Yash 2023-11-15

Hi, I'm creating a path planning map for a unicycle. I wanted to create a visibility map by taking the edges of the obstacles on the map to create the roadmap. except that using a BinaryOccupancyMap I don't know how to automatically select only the edges of the obstacles, do you have any advice? thank you very much

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Yash 2023-11-15

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2043307-find-corners-obstacles-in-binaryoccupancymap#answer_1352752

Hi Andrea,

I am assuming you are using MATLAB R2017b or a later version. I understand you want to extract the edges of a polyshape. You can use the 'boundary' function to extract the boundary of the obstacles in the 'BinaryOccupancyMap'. It will give the coordinates of the vertices of the polyshape, and the edges will then correspond to the shortest path between two points.

You can refer to the documentation of the 'boundary' function here: https://in.mathworks.com/help/matlab/ref/polyshape.boundary.html

Hope this helps.