Real-time Mapping¶
Build 3D environmental maps during missions.
Map Representation¶
AQUA Stack creates maps as:
- Point cloud: Sparse 3D points
- Keyframe poses: Camera positions
- Connectivity graph: Spatial relationships
Map Types¶
Local Map¶
- Recent observations
- Optimized continuously
- Sliding window
Global Map¶
- All keyframes
- Updated on loop closures
- Saved for reuse
Map Export¶
# Export to PCD format
aqua-map export mission_map.pcd
# Export to ROS bag
aqua-map export mission_map.bag
# Visualize in RViz
rosrun aqua_slam map_viewer mission_map.pcd
Map Reuse¶
Load previous maps for localization: