.. _mapping:

Mapping
=======

Gaussian grid map
-----------------

This is a 2D Gaussian grid mapping example.

|2|

Ray casting grid map
--------------------

This is a 2D ray casting grid mapping example.

|3|

k-means object clustering
-------------------------

This is a 2D object clustering with k-means algorithm.

|4|

Object shape recognition using circle fitting
---------------------------------------------

This is an object shape recognition using circle fitting.

|5|

The blue circle is the true object shape.

The red crosses are observations from a ranging sensor.

The red circle is the estimated object shape using circle fitting.

.. |2| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/gaussian_grid_map/animation.gif
.. |3| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/raycasting_grid_map/animation.gif
.. |4| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/kmeans_clustering/animation.gif
.. |5| image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Mapping/circle_fitting/animation.gif