Abstract: A robot movable on a substrate is controlled on the basis of an occupancy grid of cells, where each cell is associated with an occupancy probability that some physical object is present in the cell. From an elevation map and a chromaticity map, an occupancy probability may be assigned as follows: a first partial occupancy probability p1 is derived from a mean elevation of each cell; a distribution of the chromaticity is estimated and dominant chromaticity values are identified; a rule is applied that assigns a lower second partial occupancy probability p2 to a cell when the chromaticity of the cell if its chromaticity is one of dominant chromaticity values in the chromaticity map; and the occupancy probability is obtained by merging the first and second partial occupancy probabilities.

Abstract: A robot movable on a substrate is controlled on the basis of an occupancy grid of cells, where each cell is associated with an occupancy probability that some physical object is present in the cell. Occupancy-related measurements are obtained by RGB-D, radar or other sensing of an incident electromagnetic wave at an elevated point on the robot. From a measurement taken at an angle of incidence, an occupancy probability is assigned as follows: it is evaluated whether the measurement indicates that some physical object is present in the angle of incidence; a first predetermined model is selected if the evaluation is positive, and second predetermined model if the evaluation is negative; and a new occupancy probability for cells in the angle of incidence is determined on the basis of the measurement and the selected model.