Ragesh Kumar Ramachandran and Spring Berman Autonomous collective systems Laboratory Robotic Embedded Systems Laboratory Motivation Basic idea Scalar field associated with occupancy grid maps ID: 1022688
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1. POST PROCESSING OF OCCUPANCY GRID MAPS USING PERSISTENT HOMOLOGYRagesh Kumar Ramachandran and Spring BermanAutonomous collective systems LaboratoryRobotic Embedded Systems Laboratory
2. Motivation
3. Basic ideaScalar field associated with occupancy grid maps.The scalar field is thresholded at various levels.The superlevel associated with each level.
4. Persistent HomologySimplicial complexCubical complex
5. Methodology
6. Simulation ExampleEnvironmentUnoccupancy mapBarcodeOptimal thresholdUnoccupancy grid map from simulation data with unbounded localization noise
7.