Occupancy Grids

Occupancy grids are a popular data structure for representing the world around autonomous vehicles. Sensors on the vehicle---typically lidar---continuously scan the terrain. Wherever the lidar bounces back, we record an occupied voxel.

There are lots of ways to implement an occupancy grid.

• Dense Array

• Hash Map

• Sparse Array

• Others (Octree, Kd-tree, etc)

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