Scribd Logo
Upload

Welcome to Scribd!

  • Occupancy Grid Mapping Mobile Robotics: 19R210 - Ashwanth S

    Uploaded by

    ashwanth sundararajan
    8 views8 pages
    Occupancy grid mapping is a probabilistic robotics algorithm that addresses generating maps from noisy sensor data. It divides the environment into a grid, with each cell representing an area and its occupancy probability. There are four main components: interpretation, integration, position estimation, and exploration. The algorithm estimates the posterior probability of maps given sensor and pose data to construct an internal model of the static environment. While simple and accurate, it requires a fixed environment size, making updates difficult if the mapped area changes.

    Original Description:

    Original Title

    Untitled

    Copyright

    © © All Rights Reserved

    Available Formats

    PPTX, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    Occupancy grid mapping is a probabilistic robotics algorithm that addresses generating maps from noisy sensor data. It divides the environment into a grid, with each cell representing an area and its occupancy probability. There are four main components: interpretation, integration, position estimation, and exploration. The algorithm estimates the posterior probability of maps given sensor and pose data to construct an internal model of the static environment. While simple and accurate, it requires a fixed environment size, making updates difficult if the mapped area changes.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    8 views8 pages

    Occupancy Grid Mapping Mobile Robotics: 19R210 - Ashwanth S

    Uploaded by

    ashwanth sundararajan
    Occupancy grid mapping is a probabilistic robotics algorithm that addresses generating maps from noisy sensor data. It divides the environment into a grid, with each cell representing an area and its occupancy probability. There are four main components: interpretation, integration, position estimation, and exploration. The algorithm estimates the posterior probability of maps given sensor and pose data to construct an internal model of the static environment. While simple and accurate, it requires a fixed environment size, making updates difficult if the mapped area changes.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 8

    Occupancy grid mapping

    Mobile Robotics

    19R210 – Ashwanth S
    Occupancy Grid
    Mapping 

     Occupancy Grid Mapping refers to a family of computer algorithms in


    probabilistic robotics for mobile robots which address the problem of
    generating maps from noisy and uncertain sensor measurement data, with
    the assumption that the robot pose is known.

    2
    Occupancy Grids

    ◉ A tool to construct an internal model of static environments


    based on sensor data.
    ◉ The environment to be mapped is divided into regions.
    ◉ Each grid cell is an element and represents an area of the
    environment.

    3
    Representation of Occupancy
    Grids

    4
    major components

    There are four major components of occupancy grid


    mapping approach.

    They are:

    • Interpretation
    • Integration
    • Position estimation
    • Exploration

    5
    occupancy mapping algorithm

    The goal of an occupancy mapping algorithm is to estimate the posterior


    probability over maps given the data:  p(m|z1:t , x1:t)   
      

    6
    Pros and cons

    Pros
     Simple
     Accurate

    Cons
     Require fixed-size environment:
    difficult to update if size of mapped area
    changesa

    7
    Thanks!

    You might also like