ROSE^2 is a method for RObust StructurE identification and ROom SEgmentation (\ours ) of 2D occupancy maps, which may be cluttered and incomplete. Our method identifies the main directions of walls and is resilient to clutter and partial observations, allowing to extract a clean, abstract geometrical floor-plan-like description of the environment, which is used to segment, i.e., to identify rooms in, the original occupancy grid map. This repository should be used with the code provided by ROSE. For full details refer to the paper.

1. The folder RESULTS contains the results as described in our paper
2. The folder CODE contains the source code of our method
3. The folder MAPFILES contains the maps we used in our method for evaluation

Run the main .py file inside the CODE folder, and select the maps you want to process in the DATA folder on the prompt.

python runME.py

If you have some doubts/bugs just write to me and I'll be happy to help.

The code currently published probably needs some code-level adjustments to fully work. I will try to refactor it and update some stuff in the next future so to make it more ready-to-use. However, it should be pretty straighforward to replicate the results obtained in the RESULTS folder. In the meantime if you have some issue just write me and I will try promptly answer :)

Thanks for your interest in our work!