Wavelet Occupancy Grids: a Method for Compact Map Building - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2005

Wavelet Occupancy Grids: a Method for Compact Map Building

Abstract

This paper addresses the problem of data representation and data storage for building large maps, under the constraints of multi-sensor real-time updates and multi-scale representation. The method called wavelet occupancy grid, based upon occupancy grids, combines advantages of a wavelet storage and a bayesian modeling. We propose a complete method to build the map and to use it directly into the compressed wavelet space. The results of a map building by the cycab autonomous robot in real conditions is then presented. It includes the results of a validation experiment in which we compare a standard occupancy grid with a wavelet occupancy grid which demonstrates the compactness of this new representation.

Domains

Other [cs.OH]
Fichier principal
Vignette du fichier
wavOG_fsr05_1.pdf (793.42 Ko) Télécharger le fichier
wavOg_logo.jpg (38.78 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Format : Other
Loading...

Dates and versions

inria-00182053 , version 1 (24-10-2007)

Identifiers

Cite

Manuel Yguel, Olivier Aycard, Christian Laugier. Wavelet Occupancy Grids: a Method for Compact Map Building. Proc. of the Int. Conf. on Field and Service Robotics, 2005, Port Douglas, Australia. pp.219-230, ⟨10.1007/978-3-540-33453-8_19⟩. ⟨inria-00182053⟩
142 View
338 Download

Altmetric

Share

Gmail Facebook X LinkedIn More