In this contribution, we propose to improve the grid map occupancy estimation method developed so far based on belief function modeling and the classical Dempster's rule of combination. Moras, Julien Dezert, Jean Pannetier, Benjamin Grid occupancy estimation for environment perception based on belief functions and PCR6 For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. Occupancy change detection system and methodīruemmer, David J [Idaho Falls, ID Few, Douglas A [Idaho Falls, IDĪ robot platform includes perceptors, locomotors, and a system controller.
