Paper Info
Title
Wavelet Occupancy Grids: A Method for Compact Map Building
Abstract
This paper introduces the structure of wavelet occupancy grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that WavOGs provide a continuous semantics of occupancy through scaled spaces. In accordance with the theoretical properties of wavelets, our experiments have validated that WavOGs allow major memory gains. WavOG as a compact multi-scaled tool provides an efficient framework for the various algorithms that use OGs such as robot navigation, spatio-temporal classification or multiple target-tracking. In future works we plan to apply WavOGs to the monitoring of urban traffic over large areas.
Year
DOI
Venue
2005
10.1007/978-3-540-33453-8_19
Springer Tracts in Advanced Robotics
Keywords
Field
DocType
occupancy grid,scale space
Computer vision,Computer science,Simulation,Occupancy,Artificial intelligence,Robot,Semantics,Occupancy grid mapping,Wavelet
Conference
Volume
ISSN
Citations 
25
1610-7438
14
PageRank 
References 
Authors
0.81
11
3
Name
Order
Citations
PageRank
Manuel Yguel11117.46
Olivier Aycard230926.57
Christian Laugier3140.81