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


Sencan O., Temeltaş H.

ADVANCED ROBOTICS, cilt.32, sa.11, ss.575-589, 2018 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 32 Sayı: 11
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1080/01691864.2018.1468818
  • Dergi Adı: ADVANCED ROBOTICS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.575-589
  • Anahtar Kelimeler: Space partitioning, grid mapping, graph trees, environment modeling, occupancy grids
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

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.