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Wavelet Occupancy Grids: A Method for Compact Map Building

  • Manuel Yguel
  • Olivier Aycard
  • Christian Laugier
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)

7 Conclusion and Future Works

This paper introduces the structure of wavelet occupancy grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that WavOGs provide a continuous semantics of occupancy through scaled spaces. In accordance with the theoretical properties of wavelets, our experiments have validated that WavOGs allow major memory gains. WavOG as a compact multi-scaled tool provides an efficient framework for the various algorithms that use OGs such as robot navigation, spatio-temporal classification or multiple target-tracking. In future works we plan to apply WavOGs to the monitoring of urban traffic over large areas.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Manuel Yguel
    • 1
    • 2
  • Olivier Aycard
    • 1
    • 2
  • Christian Laugier
    • 1
    • 2
  1. 1.∈-motionGRAVIR-UJF-INRIA-INPGrenobleFrance
  2. 2.Inria Rhône-AlpesSaint Ismier CedexFrance

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