A comparison of position estimation techniques using occupancy grids
نویسندگان
چکیده
منابع مشابه
A Comparison of Position Estimation Techniques Using Occupancy Grids
A mobile robot requires perception of its local environment for both sensor based locomotion and for position estimation. Occupancy grids, based on ultrasonic range data, provide a robust description of the local environment for locomotion. Unfortunately, current techniques for position estimation based on occupancy grids are both unreliable and computationally expensive. This paper reports on ...
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This paper addresses the problem of perception and localisation for a mobile robot in an unknown environment. It describes a modelling of the environment based on two certainty grids: one local model and the other one a global model. Localisation of the robot is reduced to nding the best alignment of the local certainty grid onto the global certainty grid. Four localisation procedures to correc...
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In this paper we present an approach to estimate Free Space from a Stereo image pair using stochastic occupancy grids. We do this in the domain of autonomous driving on the famous benchmark dataset KITTI. Later based on the generated occupancy grid we match 2 image sequences to compute the top view representation of the map. We do this to map the environment. We compute a transformation between...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 1994
ISSN: 0921-8890
DOI: 10.1016/0921-8890(94)90023-x