A quantized approach for occupancy grids for autonomous vehicles: Q-Trees. (3rd June 2018)

• Record Type: Journal Article
• Authors: Sencan, Onur; Temeltas, Hakan
• Is Part Of: Advanced robotics. Volume 32:Number 11(2018)
• Page Start: 575
• Page End: 589
• Publication Date: 2018-06-03
• Subjects: Space partitioning -- grid mapping -- graph trees -- environment modeling -- occupancy grids; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1468818
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: 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. GRAPHICAL ABSTRACT: