Mapping

• The vehicle needs to know what kind of obstacle are around it
• The vehicle needs to know where these obstacle are
• The vehicle needs to represent its surroundings some how

Different Map Representations (from F1TENTH lecture):

• Occupancy Grid Map → Focus for small-scale robots e.g. F1TENTH
• Point Cloud Map → Focus for real-world passenger vehicles
• Feature Map → Focus on localization
• Semantic Maps → Focus on object detection
• HD Map → Focus for real-world passenger vehicles