Explicit Free Space

Elfes’90

Map structure:

• occupancy grid: cells with probability of being occupied

• probabilistic sensor model

Local map update:

• Bayes’ formula using the model and the previous probability estimates

• Similarly: sensor fusion, if more than one sensors

Global map update:

• World-based: Blur local, add to global

• Robot-based: Blur global, add to local

Environment

Robot

Purpose

Indoor,

Unstructured

Obstacle Avoidance,

Planning

Dolphin

1-line Stereo,

Sonars

• dynamic environments

• easy sensor fusion

• incremental

• robust to noise

• takes space

• blurring

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