A Statistical Update of Grid Representations from Range Sensors

Authors :: Roldão, Luis
de Charette, Raoul
Verroust-Blondet, Anne
Robotics & Intelligent Transportation Systems (RITS)
Inria de Paris
Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)
AKKA Technologies
Verroust-Blondet, Anne
Publication Year :: 2018
Publisher :: arXiv, 2018.
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.<br />Comment: Meatadata change. Typo on author's name