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A refined method for occupancy grid interpretation

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Reasoning with Uncertainty in Robotics (RUR 1995)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1093))

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Abstract

Occupancy grids are a probabilistic method for fusing multiple sensor readings. Although the underlying theory has been understood for many years, the intricacies of applying it to realtime sensor interpretation have been somewhat neglected. In this paper I analyze how refined sensor models (including specularity models) and assumptions about independence are crucial issues for occupancy grid interpretation. Using this analysis, I develop the MURIEL method for occupancy grid calculations, and show how it can dramatically improve the fidelity of occupancy grid interpretations in specular and realtime environments.

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References

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Authors and Affiliations

  1. Artificial Intelligence Center, Center for the Study of Language and Information, SRI International, 333 Ravenswood Ave., 94025, Menlo Park, California, USA

    Kurt Konolige

Authors
  1. Kurt Konolige
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Leo Dorst Michiel van Lambalgen Frans Voorbraak

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© 1996 Springer-Verlag Berlin Heidelberg

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Konolige, K. (1996). A refined method for occupancy grid interpretation. In: Dorst, L., van Lambalgen, M., Voorbraak, F. (eds) Reasoning with Uncertainty in Robotics. RUR 1995. Lecture Notes in Computer Science, vol 1093. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0013971

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  • DOI: https://doi.org/10.1007/BFb0013971

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-61376-3

  • Online ISBN: 978-3-540-68506-7

  • eBook Packages: Springer Book Archive

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