What is an occupancy grid and how can it be used What are so

What is an occupancy grid and how can it be used? What are some of the problems that typically occur in creating it?

Solution

Occupancy Grid Mapping refers to a family of computer algorithms in probabilistic robotics for mobile robots which address the problem of generating maps from noisy and uncertain sensor measurement data, with the assumption that the robot pose is known.

The basic idea of the occupancy grid is to represent a map of the environment as an evenly spaced field of binary random variables each representing the presence of an obstacle at that location in the environment. Occupancy grid algorithms compute approximate posterior estimates for these random variables.

There are four major components of occupancy grid mapping approach. They are:

Interpretation,

Integration,

Position estimation, and

Exploration.

Occupancy grid algorithms represent the map as a fine-grained grid over the continuous space of locations in the environment. The most common type of occupancy grid maps are 2d maps that describe a slice of the 3d world