Sciweavers

Share
IJCAI
2007

Feature Based Occupancy Grid Maps for Sonar Based Safe-Mapping

8 years 7 months ago
Feature Based Occupancy Grid Maps for Sonar Based Safe-Mapping
This paper presents a methodology for integrating features within the occupancy grid (OG) framework. The OG maps provide a dense representation of the environment. In particular they give information for every range measurement projected onto a grid. However independence assumptions between cells during updates as well as not considering sonar models lead to inconsistent maps, which may also lead the robot to take some decisions which may be unsafe or which may introduce an unnecessary overhead of run-time collision avoidance behaviors. Feature based maps provide more consistent representation by implicitly considering correlation between cells. But they are sparse due to sparseness of features in a typical environment. This paper provides a method for integrating feature based representations within the standard Bayesian framework of OG and provides a dense, more accurate and safe representation than standard OG methods.
Amit Kumar Pandey, K. Madhava Krishna, Mainak Nath
Added 29 Oct 2010
Updated 29 Oct 2010
Type Conference
Year 2007
Where IJCAI
Authors Amit Kumar Pandey, K. Madhava Krishna, Mainak Nath
Comments (0)
books