Find corners obstacles in BinaryOccupancymap

Hi, I'm creating a path planning map for a unicycle. I wanted to create a visibility map by taking the edges of the obstacles on the map to create the roadmap. except that using a BinaryOccupancyMap I don't know how to automatically select only the edges of the obstacles, do you have any advice? thank you very much

Answer 1

[Yash]

Hi Andrea,

I am assuming you are using MATLAB R2017b or a later version. I understand you want to extract the edges of a polyshape. You can use the 'boundary' function to extract the boundary of the obstacles in the 'BinaryOccupancyMap'. It will give the coordinates of the vertices of the polyshape, and the edges will then correspond to the shortest path between two points.

You can refer to the documentation of the 'boundary' function here: https://in.mathworks.com/help/matlab/ref/polyshape.boundary.html

Hope this helps.