Currently, we set each grid cell to be the max of the old reading and the updated reading, however, this means that temporary spikes and noise is persistent.
We need to figure out a better way to aggregate the old and new costmap value for each cell, such as: average, always keep newest, weighted average (favoring the new value), new value for things closer to the rover and old value for things further away, etc.
Currently, we set each grid cell to be the max of the old reading and the updated reading, however, this means that temporary spikes and noise is persistent.
We need to figure out a better way to aggregate the old and new costmap value for each cell, such as: average, always keep newest, weighted average (favoring the new value), new value for things closer to the rover and old value for things further away, etc.