A quantized approach for occupancy grids for autonomous vehicles: Q-Trees

Sencan O., Temeltaş H.

ADVANCED ROBOTICS, vol.32, no.11, pp.575-589, 2018 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 32 Issue: 11
  • Publication Date: 2018
  • Doi Number: 10.1080/01691864.2018.1468818
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.575-589
  • Keywords: Space partitioning, grid mapping, graph trees, environment modeling, occupancy grids
  • Istanbul Technical University Affiliated: Yes


Map Representation of the Real World is an essential step in robotics for using the mathematical methods in an abstract way. In addition to grid-based and topological studies on this area, this paper uses both approaches representing the environment with independent graph trees for all axes. We are proposing a methodology that allows us to substitute point clouds on grids in an efficient way and can be easily adapted to multi-system approaches even in real time with low-level computational systems.