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(PointCloud, Pose, ProbabilityGrid) -> ProbabilityGrid
Update cell occupancy probabilities in a grid by casting rays from the sensor origin to point cloud returns, applying bounded odds updates to free and occupied cells.
Problem it solves
Raw sensor measurements must be integrated over time to build a robust, denoised representation of space.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.