pc2map

Create a 2D map from a point cloud. The produced occupancy-map can be used by many navigation systems.

run command:

python pc2map.py path2pointcloud path2outputMap

Installation of dependencies

pip install numpy open3d opencv-python

if your pointcloud doesn't have normals and you want to align the data anyways, you also need

pip install scikit-learn

Paper

If you use this code please cite following Paper

@INPROCEEDINGS{10260595,
  author={Adam, Michael G. and Piccolrovazzi, Martin and Dalloul, Ahmed and Werner, Christian and Steinbach, Eckehard},
  booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, 
  title={Continuous and Autonomous Digital Twinning of Large-Scale Dynamic Indoor Environments}, 
  year={2023},
  volume={},
  number={},
  pages={1-6},
  doi={10.1109/CASE56687.2023.10260595}}



# Acknowledgement
This work is funded by Germany’s Federal Ministry of Education and Research within the project KIMaps (grant ID #01IS20031C).