ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.32

Einhorn, Erik (Ilmenau University of Technology), Schroeter, Christof (Ilmenau University of Technology), Gross, Horst-Michael (Ilmenau University of Technology)

Finding the Adequate Resolution for Grid Mapping - Cell Sizes Locally Adapting On-The-Fly

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Mapping, Range Sensing, Collision Avoidance


For robot mapping occupancy grid maps are the most common representation of the environment. However, most existing algorithms for creating such maps assume a fixed resolution of the grid cells. In this paper we present a novel mapping technique that chooses the resolution of each cell adaptively by merging and splitting cells depending on the measurements. The splitting of the cells is based on a statistical measure that we derive in this paper. In contrast to other approaches the adaption of the resolution is done online during the mapping process itself. Additionally, we introduce the Nd-Tree, a generalization of quadtrees and octrees that allows to subdivide any d-dimensional volume recursively with Nd children per node. Using this data structure our approach can be implemented in a very generic way and allows the creation of 2D, 3D and even higher dimensional maps using the same algorithm. Finally, we show results of our proposed method for 2D and 3D mapping using different kinds of range sensors.



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