1A2-H06 Three-Dimensional Grid Map with Probability Information by Superimposing Maps on Different Dates(Localization and Mapping (1))
Y. Ito, Kazuya Okawa, Hideo Kato, Sizuichi HIGUCHI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
This paper proposes generating method of a three-dimensional grid map with probability information. In a real environment, sensor data that include data of moving objects may adversely affect position estimation. Therefore, it is a necessary to generate the map with probability information. In order to generate the map with probability information, the sensor data must be superimposed to the same position closely. However, it is difficult to match them, because the sensor data includes some measuring errors. Therefore, at first, the matching method was proposed. Next, a method for calculating the probabilities by Bayes estimation was proposed. Moreover, the effectiveness of the proposed method was confirmed by simulations based on data acquired in the real environment.