02Map
Occupancy Mapping
initialising…
The same sensor, now building a map. Each beam marks the cells it passes through as free and the cell it lands on as occupied, accumulated as log-odds so repeated observations build confidence rather than flip-flopping. Drive around and the warehouse emerges from nothing — this is the mapping half of SLAM.
- Log-odds occupancy
- Inverse sensor model
- Bresenham traversal
- Evidence accumulation
Log-odds means evidence adds rather than being recomputed — a cell seen free ten times and occupied once settles near free instead of flipping on whichever beam arrived last. Turn the free/occupied weights right down and watch the map become hesitant; turn them up and watch a single bad measurement scar it.