Alm: Initial text from early deliverables, will need to be updated to final level.

2023-03-15T09:28:19Z

Initial text from early deliverables, will need to be updated to final level.

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==Map Enhancement==
{|class="wikitable"
| ID|| WP4-14
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || 2d/3d Map data with added information: quality, heatmaps, semantic information
|-
| Input || SLAM output and pre-existing maps
|-
| Output || ROS TF/map data, shared among multiple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

There are various sources for the creation of information-rich maps/grids, which can be used for SLAM and navigation. This component explicitly focuses on a generic way of providing query-like access to this information, providing temporal, shared situational awareness. This is achieved by leveraging the current map meta-information (timestamps and frame ids), augmented by additional meta-information per map-layer, e.g. trustworthiness, resolution, capture-time-range, etc. Especially additional information on whether the information is based on predictors or real sensors is relevant. Using this extended meta-info, a query service is provided through which map-products can be obtained for usage in navigation and as input for SLAM algorithms. Input map information can come from a variety of sources, including multiple robots, existing 3d & BIM models, hardware-in-the-loop simulation, semantic maps, AI & ML trained models.

==Improvements==

Currently, there are some ROS libraries for map merging, however, there are only a few fully-functional solutions that aim at shared situational awareness at a map level. Furthermore, there are some experiments for an "environment descriptor", an approach for semantic maps. This component is aiming for a more generic, complete map enhancement service for seamless merging, enhancing, predicting maps, including more semantically rich logic.

==Validation==

WP4-14 - Revision history

Alm: Initial text from early deliverables, will need to be updated to final level.