Title :
Patch map: A benchmark for occupancy grid algorithm evaluation
Author :
Merali, Rehman S. ; Barfoot, Timothy D.
Author_Institution :
Inst. for Aerosp. Studies, Univ. of Toronto, Toronto, ON, Canada
Abstract :
Mobile robots have been using two-dimensional discrete occupancy grid maps for more than 25 years to represent a continuous environment. Occupancy grids discretize the environment into a grid of cells and seek to determine the occupancy of each cell. These maps are generally used to determine the degree to which each cell is occupied.
Keywords :
maximum likelihood estimation; mobile robots; continuous environment; mobile robots; occupancy grid algorithm evaluation; patch map; two-dimensional discrete occupancy grid maps; Bayesian methods; Benchmark testing; Equations; Mathematical model; Robot sensing systems; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385522
