An Occupancy Mapping Method Based on K-Nearest Neighbours
OctoMap is an efficient probabilistic mapping framework to build occupancy maps from point clouds, representing 3D environments with cubic nodes in the octree. However, the map update policy in OctoMap has limitations. All the nodes containing points will be assigned with the same probability regard...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/1/139 |