Grid Maps for Robot Mapping Features versus Volumetric
Grid Maps for Robot Mapping
Features versus Volumetric Maps
Features
Grid Map Representation
Grid Maps
Example of Grid Map inaccuracy
Assumption 1 for Grid Maps
Variables for Grid Map Representation
Occupancy Probability for cells in Grid Maps
Assumption 2 for cells in Grid Maps
Probability of cells occupancy in Grid Maps
Probability distribution in Grid Maps
Estimating a Map from Data
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Static State Binary Bayes Filter
Log Odds Notation
Occupancy Mapping in Log Odds Form
Occupancy Mapping Algorithm
Occupancy Grid Mapping
Inverse Sensor Model for Sonars Range Sensors
Occupancy Value Depending on the Measured Distance
Occupancy Value Depending on the Measured Distance
Occupancy Value Depending on the Measured Distance
Occupancy Value Depending on the Measured Distance
Examples of Occupancy Grids
Example: Incremental Updating of Occupancy Grids
Resulting Map Obtained with Ultrasound Sensors
Resulting Occupancy and Maximum Likelihood Map
Inverse Sensor Model for Laser Range Finders
Occupancy Grids from Laser Scans to Maps
Example: MIT CSAIL 3 rd Floor
Uni Freiburg Building 106
Summary
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