Occupancy grid mapping: An empirical evaluation

Thomas Collins, J. J. Collins, Conor Ryan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper a quantitative analysis of robotic mapping utilising the fields dominant paradigm, the Occupancy Grid, is presented. The aim of this work is to determine which approach to the robotic mapping problem imbues a mobile robot with the greatest ability to create an accurate representation of its operating environment. We accomplish this by analysing the performance of several established mapping techniques using identical test data. Through evaluating the maps generated by these paradigms using an extensible benchmarking suite that our group has developed we outline which paradigm yields the greatest representational ability.

Original languageEnglish
Title of host publication2007 Mediterranean Conference on Control and Automation, MED
DOIs
Publication statusPublished - 2007
Event2007 Mediterranean Conference on Control and Automation, MED - Athens, Greece
Duration: 27 Jul 200729 Jul 2007

Publication series

Name2007 Mediterranean Conference on Control and Automation, MED

Conference

Conference2007 Mediterranean Conference on Control and Automation, MED
Country/TerritoryGreece
CityAthens
Period27/07/0729/07/07

Keywords

  • Machine learning
  • Mapping
  • Modeling and simulation
  • Occupancy grid
  • Robotics

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