Lecture 9: Intro to Ray-Tracing & Accelerating Ray-Scene Intersection (65)
austinapatel
Once an occupancy grid has been made, is there any way to dynamically update it as objects are added or removed from the scene? By that I mean is there a rebalancing method that can be used to still ensure good average performance?
waleedlatif1
@austinapatel I was wondering the same thing, but after doing some research and looking at a particular use case for robot perception, the article below shows how bayesian estimation and inference are used to incrementally update the occupancy grid. Since this is only an estimation, it is relatively cheap and maintains the performance and functionality of the occupancy grid in the case that it needs to dynamically be updated.
Once an occupancy grid has been made, is there any way to dynamically update it as objects are added or removed from the scene? By that I mean is there a rebalancing method that can be used to still ensure good average performance?
@austinapatel I was wondering the same thing, but after doing some research and looking at a particular use case for robot perception, the article below shows how bayesian estimation and inference are used to incrementally update the occupancy grid. Since this is only an estimation, it is relatively cheap and maintains the performance and functionality of the occupancy grid in the case that it needs to dynamically be updated.
https://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated4/elfes_occup_grids.pdf