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

Sencan O., Temeltaş H.

ADVANCED ROBOTICS, cilt.32, ss.575-589, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 32 Konu: 11
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1080/01691864.2018.1468818
  • Sayfa Sayıları: ss.575-589


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.