Chuyển đổi ảnh CAD (PNG) thành lưới occupancy (OGM) 2D dạng numpy array. Ngưỡng hóa (threshold) để chuyển thành ảnh nhị phân (tường đen trên nền trắng). Loại bỏ nhiễu nhỏ bằng cách lọc các thành phần ...

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