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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...

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Detalles Bibliográficos
Autores principales: Miao, Yu, Hunter, Alan, Georgilas, Ioannis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749726/
https://www.ncbi.nlm.nih.gov/pubmed/35009685
http://dx.doi.org/10.3390/s22010139
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author Miao, Yu
Hunter, Alan
Georgilas, Ioannis
author_facet Miao, Yu
Hunter, Alan
Georgilas, Ioannis
author_sort Miao, Yu
collection PubMed
description 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 regardless of the points being noise, and the probability of one such node can only be increased with a single measurement. In addition, potentially occupied nodes with points inside but traversed by rays cast from the sensor to endpoints will be marked as free. To overcome these limitations in OctoMap, the current work presents a mapping method using the context of neighbouring points to update nodes containing points, with occupancy information of a point represented by the average distance from a point to its k-Nearest Neighbours. A relationship between the distance and the change in probability is defined with the Cumulative Density Function of average distances, potentially decreasing the probability of a node despite points being present inside. Experiments are conducted on 20 data sets to compare the proposed method with OctoMap. Results show that our method can achieve up to 10% improvement over the optimal performance of OctoMap.
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spelling pubmed-87497262022-01-12 An Occupancy Mapping Method Based on K-Nearest Neighbours Miao, Yu Hunter, Alan Georgilas, Ioannis Sensors (Basel) Article 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 regardless of the points being noise, and the probability of one such node can only be increased with a single measurement. In addition, potentially occupied nodes with points inside but traversed by rays cast from the sensor to endpoints will be marked as free. To overcome these limitations in OctoMap, the current work presents a mapping method using the context of neighbouring points to update nodes containing points, with occupancy information of a point represented by the average distance from a point to its k-Nearest Neighbours. A relationship between the distance and the change in probability is defined with the Cumulative Density Function of average distances, potentially decreasing the probability of a node despite points being present inside. Experiments are conducted on 20 data sets to compare the proposed method with OctoMap. Results show that our method can achieve up to 10% improvement over the optimal performance of OctoMap. MDPI 2021-12-26 /pmc/articles/PMC8749726/ /pubmed/35009685 http://dx.doi.org/10.3390/s22010139 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Miao, Yu
Hunter, Alan
Georgilas, Ioannis
An Occupancy Mapping Method Based on K-Nearest Neighbours
title An Occupancy Mapping Method Based on K-Nearest Neighbours
title_full An Occupancy Mapping Method Based on K-Nearest Neighbours
title_fullStr An Occupancy Mapping Method Based on K-Nearest Neighbours
title_full_unstemmed An Occupancy Mapping Method Based on K-Nearest Neighbours
title_short An Occupancy Mapping Method Based on K-Nearest Neighbours
title_sort occupancy mapping method based on k-nearest neighbours
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749726/
https://www.ncbi.nlm.nih.gov/pubmed/35009685
http://dx.doi.org/10.3390/s22010139
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