Wavelet Occupancy Grids: a Method for Compact Map Building

Manuel Yguel 1 Olivier Aycard 1 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : This paper addresses the problem of data representation and data storage for building large maps, under the constraints of multi-sensor real-time updates and multi-scale representation. The method called wavelet occupancy grid, based upon occupancy grids, combines advantages of a wavelet storage and a bayesian modeling. We propose a complete method to build the map and to use it directly into the compressed wavelet space. The results of a map building by the cycab autonomous robot in real conditions is then presented. It includes the results of a validation experiment in which we compare a standard occupancy grid with a wavelet occupancy grid which demonstrates the compactness of this new representation.
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Manuel Yguel, Olivier Aycard, Christian Laugier. Wavelet Occupancy Grids: a Method for Compact Map Building. Proc. of the Int. Conf. on Field and Service Robotics, 2005, Port Douglas, Australia. pp.219-230, ⟨10.1007/978-3-540-33453-8_19⟩. ⟨inria-00182053⟩

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