How to extract obstacles from an occupancy grid map

Hello,

So I have an occupancy grid map similar to the one in the below picture. I want to know how to extract the obstacles positions in meters?

Couldn't find a usful method in binaryOccupancyMap or occupancyMap. Any guidance or suggested approach would be really helpful.

Thank you.

Answer 1

[Sulaymon Eshkabilov]

Apply imdilate() fcn to your image map:

https://www.mathworks.com/help/images/ref/imdilate.html

Distance calcs:

https://www.mathworks.com/help/robotics/ug/path-planning-in-environments-of-difference-complexity.html