2013
DOI: 10.1177/0278364913499415
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3D normal distributions transform occupancy maps: An efficient representation for mapping in dynamic environments

Abstract: In order to enable long-term operation of autonomous vehicles in industrial environments numerous challenges need to be addressed. A basic requirement for many applications is the creation and maintenance of consistent 3D world models. This article proposes a novel 3D spatial representation for online real-world mapping, building upon two known representations: normal distributions transform (NDT) maps and occupancy grid maps. The proposed normal distributions transform occupancy map (NDT-OM) combines the adva… Show more

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Cited by 83 publications
(85 citation statements)
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“…The aim of the mapping method is to create an accurate model of the environment, which is suitable to be used for motion planning of a walking robot. We chose the elevation map representation of the environment because it allows us to efficiently query the map in the motion planning of the robot on a rough terrain (Belter and Skrzypczyński, 2011a;Belter et al, n.d.;Saarinen et al, 2013). The main problem with this mapping method for a walking robot is related to the perception system and geometrical properties of the obstacles.…”
Section: Elevation Mapping Methodsmentioning
confidence: 99%
“…The aim of the mapping method is to create an accurate model of the environment, which is suitable to be used for motion planning of a walking robot. We chose the elevation map representation of the environment because it allows us to efficiently query the map in the motion planning of the robot on a rough terrain (Belter and Skrzypczyński, 2011a;Belter et al, n.d.;Saarinen et al, 2013). The main problem with this mapping method for a walking robot is related to the perception system and geometrical properties of the obstacles.…”
Section: Elevation Mapping Methodsmentioning
confidence: 99%
“…With the resulting temporal occupancy grid (TOG), the dynamics of each cell is classified by the occupancy values over different timescales. Saarinen et al [7] proposed a 3D modeling approach combining the normal distributions transform (NDT) and the occupancy grid map. The method has the ability of adapting to a dynamic environment with a recencyweighted strategy.…”
Section: Related Workmentioning
confidence: 99%
“…The occupancy grid map [1] and its variants have been employed in modeling dynamics in the environment by many methods, for example [2], [3], [4], [5], [6], [7]. In the work [3], the occupancy grid map is generalized and the static environment assumption is relaxed by introducing the Hidden Markov Model (HMM).…”
Section: Introductionmentioning
confidence: 99%
“…Each set is updated at a varied learning rate to adapt to different extent of dynamics in the environment according to the timescale. Saarinen et al [6] proposed a 3D modeling approach combining the normal distributions transform (NDT) and the occupancy grid map. The method has the ability of adapting to a dynamic environment with a recency-weighted strategy.…”
Section: Ieee/rsj International Conference Onmentioning
confidence: 99%
“…Occupancy grids [3] are one of the most popular representations of environments where mobile robots operate, and are also used for dynamic environment studies [4] [5] [6] [7]. In a very recent work, Meyer-Delius et al [8] generalized the occupancy grid map and released the static environment assumption by introducing the hidden Markov model (HMM).…”
Section: Introductionmentioning
confidence: 99%