Occupancy Grid Mapping (Occupancy Grid Mapping)

Description

Assuming a robot's pose is known, generate a occupancy grid mapping of the area. The occupancy grid is a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice. To construct a sensor-derived map of the robot’s world, the cell state estimates are obtained by interpreting the incoming range readings using probabilistic sensor models. Bayesian estimation procedures allow the incremental updating of the occupancy grid using readings taken from several sensors over multiple points of view.

Parameters

No parameters found.

Table of Algorithms

Name	Year	Time	Space	Approximation Factor	Model	Reference
Maximum a Posteriori Occupancy Mapping	2004	$O(n^{3})$			Deterministic