Real‐Time Monocular 2D Occupancy Grid Mapping for Autonomous Navigation of Ground Robots
Sign Up to like & getrecommendations! Published in 2025 at "Journal of Field Robotics"
DOI: 10.1002/rob.70137
Abstract: This study proposes a lightweight and real‐time 2D occupancy grid mapping method for autonomous ground robots using a monocular visual‐inertial system. While traditional simultaneous localization and mapping (SLAM) systems typically produce sparse point clouds optimized… read more here.
Keywords: navigation; real time; time; occupancy grid ... See more keywords
Localizability based path planning on occupancy grid maps
Sign Up to like & getrecommendations! Published in 2024 at "Advanced Robotics"
DOI: 10.1080/01691864.2024.2441249
Abstract: In this paper, we propose a path planning method with graph search considering localizability. Localizability is a measure of the reliability of localization. This paper aims to plan paths that avoid places with low reliability… read more here.
Keywords: occupancy grid; grid maps; localizability; path planning ... See more keywords
An Inertial Odometry and Enhanced Occupancy Grid Inertial SLAM for Legged Robots
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DOI: 10.1109/jiot.2025.3578665
Abstract: Accurate position estimation is crucial for legged robots, the inertial odometry based on inertial measurement units (IMUs) is low-cost and easy to deploy, and inertial simultaneous localization and mapping (SLAM) methods can maintain stable performance… read more here.
Keywords: odometry; grid inertial; enhanced occupancy; occupancy grid ... See more keywords
Extracting Statistical Signatures of Geometry and Structure in 2D Occupancy Grid Maps for Global Localization
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DOI: 10.1109/lra.2022.3151154
Abstract: Global localization (or place recognition) is a method of finding the current location of a robot on a map generated by a mapping process, and it is an open field that has not yet been… read more here.
Keywords: occupancy grid; geometry; global localization; extracting statistical ... See more keywords
CLONeR: Camera-Lidar Fusion for Occupancy Grid-Aided Neural Representations
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DOI: 10.1109/lra.2023.3262139
Abstract: Recent advances in neural radiance fields (NeRFs) achieve state-of-the-art novel view synthesis and facilitate dense estimation of scene properties. However, NeRFs often fail for outdoor, unbounded scenes that are captured under very sparse views with… read more here.
Keywords: occupancy; robotics; camera; occupancy grid ... See more keywords
Occupancy Grid Generation With Dynamic Obstacle Segmentation in Stereo Images
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2021.3133799
Abstract: The detection of dynamic and static obstacles is a key task for the navigation of autonomous ground vehicles. The article presents a new algorithm for generating an occupancy map of the surrounding space from noisy… read more here.
Keywords: point clouds; obstacle; occupancy grid; generation dynamic ... See more keywords
Attention-Based Highway Safety Planner for Autonomous Driving via Deep Reinforcement Learning
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2023.3304530
Abstract: In this article, a motion planning for autonomous driving on highway is studied. A high-level motion planning controller with discrete action space is designed based on deep Q network (DQN). An occupancy grid based state… read more here.
Keywords: occupancy grid; attention; based highway; attention based ... See more keywords