Occupancy Grids: A Stochastic Spatial Representation for Active Robot Perception

  title={Occupancy Grids: A Stochastic Spatial Representation for Active Robot Perception},
  author={A. Elfes},
i In thispaper we provide an overview of a new framework for robot perception, real-world modelling, and navigation i that uses a stochastic tesselated representation ofspatialinformation called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field model that maintains probabilistic estimates of the occupancy state of each cell in a spatial lattice. Bayesian estimation mechanisms employing stochastic sensor models allow incremental updating of the Occupancy Grid using multi… CONTINUE READING
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