Gaussian Process Occupancy Maps for Dynamic Environments

  • Simon T. O’Callaghan
  • Fabio T. Ramos
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)


We present a continuous Bayesian occupancy representation for dynamic environments. The method builds on Gaussian processes classifiers and addresses the main limitations of occupancy grids such as the need to discretise the space, strong assumptions of independence between cells, and difficulty to represent occupancy in dynamic environments. We develop a novel covariance function (or kernel) to capture space and time statistical dependencies given a motion map of the environment. This enables the model to perform predictions on how the occupancy state of the environment will be in the future given past observations. We show results on a simulated environment with multiple dynamic objects, and on a busy urban intersection.


Covariance Function Gaussian Process Query Point Marginal Likelihood Underlying Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.NICTAEveleighAustralia
  2. 2.Australian Centre for Field Robotics, School of Information TechnologiesThe University of SydneySydneyAustralia

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