Tesla mentions this, and clearly it is used in a lot of papers, such as Radar. https://drive.google.com/drive/u/2/folders/1gyp6usl1m9K7QQJTqOaj6IO4ZJgjDq8H
It is quite simple. An occupancy grid is just a standard grid where the value of each cell is either
- “occupied cell” (black)
- “free cell” (white)
- “un-explored” cell (gray)
When we use ROS and publish to the
/map topic, what we are actually publishing is an occupancy grid!
sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::SystemDefaultsQoS());
ROS Occupancy Grid
How is the occupancy actually encoded?
Xinjie talked about wanting to use double precision to pass data around.