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A Statistical Update of Grid Representations from Range Sensors

Abstract : In a wide range of robotic applications, being able to create a 3D model of the surrounding environment is a key feature for autonomous tasks. In this research report, we present a statistical model to perform 3D reconstructions of the environment from range sensors using an occupancy grid. To do so, we take into account all the available information obtained from the sensor, considering the distances traversed by the rays in each cell and seeking to reduce reconstruction errors caused by discretization. The approach has been validated qualitatively using the KITTI dataset.
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Contributor : Anne Verroust-Blondet Connect in order to contact the contributor
Submitted on : Tuesday, July 24, 2018 - 10:37:11 AM
Last modification on : Thursday, August 20, 2020 - 11:18:02 AM

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  • HAL Id : hal-01847902, version 1
  • ARXIV : 1807.08483



Luis Roldão, Raoul de Charette, Anne Verroust-Blondet. A Statistical Update of Grid Representations from Range Sensors. 2018. ⟨hal-01847902⟩



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