3D Mapping

Map is a spatial model of a robot's environment

 

Mapping is a process for building a map

 

Consideration for mapping

map representation

available sensors

purpose of mapping

 

Types of Map

metric map: a location is represented as a coordinate

topological map: node/arcs 

Semantic Map: a map with labels

 

challenge:

noisy measurement in local coordinate。local-globle frame

motion involved 

change over time:frequent update

 

 

Occupancy Grid Mapping

Occupancy: binary random variable

m（x,y）:{free,occupied}---{0,1}

 

Occupancy grid map

fine-grained grid map where an occupancy variable associated wih each cell

 

Sensor measuremnet

 

Sensors for 3D Mapping

LiDar Sensor

Stereo Camera

 

Map Representation

Grid represnetation/List representation/Tree representation(Kd tree/Octree)