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 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 32 Issue: 11
  • Publication Date: 2018
  • Doi Number: 10.1080/01691864.2018.1468818
  • Title of Journal : ADVANCED ROBOTICS
  • Page Numbers: pp.575-589
  • Keywords: Space partitioning, grid mapping, graph trees, environment modeling, occupancy grids


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.