local map subtraction for moving object detection
Hi all,
I am new in ROS and I am going to do a subtraction between a current laser measurement map at time t and time t-1 for moving object detection. the procedure is as follow:
- Convert laser measurement at time t to 2d grid form that contain free and occupied cells (I call it laser measurement map).
- Limit this (2d grid) laser measurement map in a rectangle with edge size of lets say 5 meters. So the robot can see 2.5 meters ahead, back, left and right.
- Next, I am going to do a subtraction between a current laser map at time t and laser map provided at time t-1. (each laser map associated with odometry data, so the laser measurement map provided at time t-1 will be projected on laser measurement map at time t, and subtraction is done in the joint area).
Could you please guide me how to do it with already available packages in ROS? I found two related packages: costmap_2d and Gmapping. I don't know if there is better packages available to use? Based on your experience which one has a potential to use for this purpose? What steps should I take to do it?
Thanks.
You need good localisation to get good results from subsraction.
Yes, I am going to use Xsens IMU. Next, I will prune the result (remove small false detected regions) and just keep significant parts that I hope provides moving objects.
Can you post on how you had achieved this?