We mentioned finding some interest points, but extracting the ground.
What exactly do we mean by that?
What exactly do we mean by interest point?
Here.
We understand that once have extracted the mes occupancy.
Not every a car can go.
It needs to go to the goal.
A lot of these regions would be redundant, meaning they could easily be avoided if we wanted an efficient
solution.
Let's look at an example.
Suppose we have a pot that is straight from one point to another.
Then the problem is, every day all the in-between information is just redundant, meaning it could
have been easily be represented by just the two points and not in between points.
Let's call these two as the interest points.
So how do we formally define an interest point?
An interest component can be any point where we have to make a call or a decision of sorts.
By this definition, we have at max four interest points.
These are dead in turns, three junction and a four junction.
Let's identify a few of them in our Maze occupancy group.
As you can see, we have a point in red that has been identified as a dead end.
The reason is there is no other way to move apart from going back.
Then we have our turn in green.
Here, the robot will need to make a 90 degree turn to continue along its spot.
It can be identified by the two doubts interest points provide up and left.
Then in yellow we have a three junction here.
The car or the robot would make three direction turns up left or right.
And finally we have a full junction in orange.
The area is wide enough where the car could move in all four direction turns.
So these are the interest points that we need to identify while extracting the graph from our MES occupancy
grade.