![]() We have previously demonstrated 3D mapping of gamma-ray emitters with free-moving detector systems on a relative intensity scale using a technique. It is common to use a log-odds representation of the probability that each grid cell is occupied. Here we characterize the detector response of a multi-element gamma-ray imaging system using experimentally benchmarked Monte Carlo simulations and perform 3D mapping on an absolute intensity scale. ĭue to this factorization, a binary Bayes filter can be used to estimate the occupancy probability for each grid cell. The goal of an occupancy mapping algorithm is to estimate the posterior probability over maps given the data: p ( m ∣ z 1 : t, x 1 : t ). There are four major components of occupancy grid mapping approach. Occupancy grid algorithms compute approximate posterior estimates for these random variables. The basic idea of the occupancy grid is to represent a map of the environment as an evenly spaced field of binary random variables each representing the presence of an obstacle at that location in the environment. Occupancy grids were first proposed by H. Occupancy Grid Mapping refers to a family of computer algorithms in probabilistic robotics for mobile robots which address the problem of generating maps from noisy and uncertain sensor measurement data, with the assumption that the robot pose is known.
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