A comparison of grid-type map-building techniques by index of performance

Parameterized Sensor Model and an Approach for Measuring Goodness of Robotic Maps

“…Generally, there are two approaches for sonar-based map building, related to the data representation [10,11]: grid based and feature based. Grid based maps, also known as evidence-grids or occupancy grids, were introduced by Moravec and Elfes [8,2].…”

“…They have a wide angle of view, are inexpensive and easy to control [11,10]. With this kind of sensors, grid based models are suitable because of their unreliable readings problem [11]. Grid based map methods typically use Bayesian rule of probability for updating the map.…”

“…Generally, a robot uses various sensors such as laser-scanners, cameras, and sonars to sense the environment. Sonars are the most commonly used sensors because of price, relatively low energy consumption and ease of use [11,10]. To interpret the sensor readouts, some kind of sensor model is used.…”

Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights

“…The basic method to interpret data from depth image sequences follows classical approaches with occupancy grids (Moravec & Elfes, 1985;Raschke & Borenstein, 1990). These grids have turned out to be very useful for obstacle mapping since they allow easy sensor fusion, reduce sensor noise, and are also applicable to multiple vehicles.…”

Surface Profile Determination from Multiple Sonar Data Using Morphological Processing

“…Sufficient grid coverage was obtained by the extremely fast firing and update rate, and the most suitable steering direction was selected from the resulting polar map for real-time obstacle avoidance. A measure for judging map accuracy was proposed by Raschke and Borenstein (1990), where improved mapping results were reported with this method. Gilbreath and Everett (1988), Zelinsky (1988), Beckerman, and Oblow (1990) have all used variations of the gridbased approach to construct sonar maps for path planning.…”