Page 228 - Concise Encyclopedia of Robotics
P. 228
Occupancy Grid
be assigned as follows: violet = 0–17%; blue = 18–33%; green = 34–50%;
yellow = 51–67%; orange = 68–83%; red = 84–100%.
Grayscale 2-D renditions of occupancy grids are possible. An example
is shown in the illustration, which represents a hypothetical work environ-
ment in which several birds’ nests are located. This rendition has eight
shades of gray. The darkest shades represent the highest probability that a
bird is in a given sector at a given instant in time. White regions represent
probabilities less than 1/8 (12.5 percent).
Robot
Occupancy grid
