Occupancy Grid Mapping

This repo contains a C++ implementation of an occupancy grid mapping algorithm using inverse sensor model and recorded measurements

Compiling the Program

Step 1

Install Python2.7 and matplotlib library

Step 2

Clone the respository and build it:

git clone https://github.com/farzingkh/Occupancy-Grid-Mapping.git
cd Occupancy-Grid-Mapping/
mkdir build
cd build
cmake ..
make

and run the application:

./OGM

It uses matplotlibcpp wrapper to access matplotlib functionality. See the visuaization file to change the plotting options.

Expected Map