Evaluating Techniques for Resolving Redundant Information and Specularity in Occupancy Grids

  • Thomas Collins
  • J. J. Collins
  • Mark Mansfield
  • Shane O’Sullivan
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3809)


In this paper we consider the effect that techniques designed to deal with the problems of redundant information and erroneous sensory data have on the results of robotic mapping. We accomplish this by evaluating several configurations of these techniques using identical test data. Through evaluating the results of these experiments using an extensible benchmarking suite, that our group has developed, we outline which technique yields the greatest environmental representational gain.


Mobile Robot Redundant Information Sensory Reading Certainty Factor Occupancy Grid 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Thomas Collins
    • 1
  • J. J. Collins
    • 1
  • Mark Mansfield
    • 1
  • Shane O’Sullivan
    • 2
  1. 1.Department of Computer Science and Information SystemsUniversity of LimerickLimerickIreland
  2. 2.Dublin Software LabIBM, MulhuddartDublin 15Ireland

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