elevation_mapping
A ROS package for robot-centric elevation mapping that handles pose uncertainty for navigation on rough terrain.
What is elevation_mapping?
Elevation Mapping is a ROS package that creates local elevation maps for mobile robots navigating rough terrain. It uses robot-centric mapping to handle pose estimation drift by aggregating uncertainty through the robot's motion, providing a probabilistic terrain representation. The package processes distance sensor data (e.g., from LiDAR or depth cameras) to generate elevation maps that are essential for locomotion planning and local navigation.
Robotics researchers and engineers working on mobile robot navigation, particularly those using legged robots or ground vehicles in unstructured outdoor environments. It's designed for teams with ROS expertise who need reliable terrain perception for autonomous locomotion.
Developers choose Elevation Mapping for its explicit handling of pose uncertainty, which is critical for robots operating in GPS-denied or slippery terrain. Its robot-centric approach and probabilistic fusion provide more reliable maps than traditional methods when localization drifts, and its tight ROS integration makes it easy to incorporate into existing autonomy stacks.
Overview
Robot-centric elevation mapping for rough terrain navigation
Use Cases
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