Implementing & Evaluating A Standardised MapRepresentation

Sammanfattning: Maps are essential in the robots of today, not only to navigate but also to perform actions.This project’s aim was to create a program able to take map files of older standards suchas ROS Gridmaps or the current IEEE 2D map standard 1873-2015[2] and convert themto the new IEEE P2751/D1[4] standard. The new IEEE P2751/D1 is based of IEEE1873-2015 but improves by allowing 3D map formats such as Pointclouds or Voxel-gridsto be incorporated. This projects main goal was to have a program that is able to convertfrom some of these different map types into the new standard. The existence of sucha program eases any future adaptation. This report also includes a detailed evaluationof the efficiency of the IEEE P2751/D1 standard format in comparison to other mapformats.