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We mentioned finding some interest points, but extracting the ground.

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What exactly do we mean by that?

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What exactly do we mean by interest point?

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Here.

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We understand that once have extracted the mes occupancy.

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Not every a car can go.

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It needs to go to the goal.

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A lot of these regions would be redundant, meaning they could easily be avoided if we wanted an efficient

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solution.

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Let's look at an example.

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Suppose we have a pot that is straight from one point to another.

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Then the problem is, every day all the in-between information is just redundant, meaning it could

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have been easily be represented by just the two points and not in between points.

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Let's call these two as the interest points.

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So how do we formally define an interest point?

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An interest component can be any point where we have to make a call or a decision of sorts.

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By this definition, we have at max four interest points.

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These are dead in turns, three junction and a four junction.

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Let's identify a few of them in our Maze occupancy group.

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As you can see, we have a point in red that has been identified as a dead end.

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The reason is there is no other way to move apart from going back.

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Then we have our turn in green.

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Here, the robot will need to make a 90 degree turn to continue along its spot.

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It can be identified by the two doubts interest points provide up and left.

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Then in yellow we have a three junction here.

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The car or the robot would make three direction turns up left or right.

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And finally we have a full junction in orange.

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The area is wide enough where the car could move in all four direction turns.

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So these are the interest points that we need to identify while extracting the graph from our MES occupancy

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grade.