Fast Frontier Detection Approach in Consecutive Grid Maps

This paper deals with frontiers detection in occupancy grid maps. The proposed method is based on differences between consecutive maps. Using this approach, frontiers detection is accelerated by calculating the third map which contains only new data. Thus, only new frontiers are detected and added to the list of frontiers. The main contribution of this paper is the description of the proposed approach and its open sourced implementation in Python. Moreover, several results of experiments are discussed. The proposed approach is capable to run very fast even for large maps with many frontiers.