Confidence-aware Occupancy Grids
نویسندگان
چکیده
منابع مشابه
SMAP: Simultaneous Mapping and Planning on Occupancy Grids
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data (map) for the purpose of planning and collision avoidance. Typically, in occupancy grid mapping, each cell contains a single number representing the probabil...
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Occupancy grids are common frameworks for creating a map of the environment using a robot. Traditional occupancy grid mapping algorithms assume that map voxels are independent of each other. In addition, they utilize a map representation, wherein each voxel stores a single number representing the occupancy probability. This leads to conflicts in the map, and more importantly, inconsistency betw...
متن کاملA 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 ...
متن کاملRobotic Mapping with Polygonal Random Fields
Two types of probabilistic maps are popular in the mobile robotics literature: occupancy grids and geometric maps. Occupancy grids have the advantages of simplicity and speed, but they represent only a restricted class of maps and they make incorrect independence assumptions. On the other hand, current geometric approaches, which characterize the environment by features such as line segments, c...
متن کاملDense Mapping for Range Sensors: Efficient Algorithms and Sparse Representations
This paper focuses on efficient occupancy grid building based on wavelet occupancy grids, a new sparse grid representation and on a new update algorithm for range sensors. The update algorithm takes advantage of the natural multiscale properties of the wavelet expansion to update only parts of the environement that are modified by the sensor measurements and at the proper scale. The sparse wave...
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تاریخ انتشار 2017