MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior
Rehman S. Merali Timothy D. Barfoot Rehman S. Merali Timothy D. Barfoot
Occupancy grids have been widely used for mapping with mobile robots for several decades. Occupancy grids discretize the analog environment and seek to determine the occupancy probability of each cell. More recent occupancy grid mapping algorithms have shown the advantage of capturing cell correlations in the measurement model and the posterior. By estimating the probability of a given map as oppo...