Dense mapping for range sensors: Efficient algorithms and sparse representations

Abstract

This paper focuses on efficient occupancy gridbuilding based on wavelet occupancy grids, a new sparse gridrepresentation and on a new update algorithm for range sensors.The update algorithm takes advantage of the natural multiscaleproperties of the wavelet expansion to update only parts of theenvironement that are modified by the sensor measurements andat the proper scale. The sparse wavelet representation coupledwith an efficient algorithm presented in this paper providesefficient and fast updating of occupancy grids. It leads to realtimeresults especially in 2D grids and for the first time in 3Dgrids. Experiments and results are discussed for both real andsimulated data.