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Langue: en

Version: 2009-02-08 (fedora - 04/07/09)

Section: 1 (Commandes utilisateur)


observations2map - Transforms a set of pairs <pose,observation> into metric maps.


observations2map config_file.ini observations.simplemap output_maps_prefix


observations2map reads a multi metric map description from the config file and insert all the observations into it. Then it saves all the metric maps to independent files. It can be used to generate point maps, occupancy grid maps, or any kind of maps from a sequence of localized observations.


Please report bugs at


The application wiki page at


observations2map is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by the MAPIR laboratory (University of Malaga).

This manual page was written by Jose Luis Blanco <>.

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3, or (at your option) any later version.

On Debian GNU/Linux systems, the complete text of the GNU General Public License can be found in `/usr/share/common-licenses/GPL'.

Chacun se trompe ici-bas.
On voit courir après l'ombre
Tant de fous, qu'on n'en sait pas
La plupart du temps le nombre.
-+- Jean de La Fontaine (1621-1695),
Le Chien qui lâche sa proie pour l'ombre (Fables VI.17) -+-