Evaluating Techniques for Resolving Redundant Information and Specularity in Occupancy Grids

摘要

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.