1
00:00:00,790 --> 00:00:04,900
So now we know what exactly we want to achieve in the mapping step.

2
00:00:05,650 --> 00:00:08,020
Let's look at what our plan of attack is.

3
00:00:08,860 --> 00:00:13,030
We start all by checking whether we have already completed the mapping procedure.

4
00:00:13,540 --> 00:00:16,240
For example, if we have the graph of the Mars.

5
00:00:17,450 --> 00:00:19,970
If we have, we move on to the next step.

6
00:00:21,590 --> 00:00:27,830
Otherwise we simplify our move by first converting it into an occupancy grade.

7
00:00:28,820 --> 00:00:35,180
This can be presented with white or black regions where white region represents the area that could

8
00:00:35,180 --> 00:00:36,110
be passed through.

9
00:00:37,390 --> 00:00:44,560
Once we have that, we move on to perform the one force mapping where we will extract the topological

10
00:00:44,560 --> 00:00:49,960
map in the form of a graph which contains a region of interest and the distances between them.

11
00:00:50,800 --> 00:00:53,470
This completes our mapping procedure.