Range-based GP Maps: Local Surface Mapping for Mobile Robots using Gaussian Process Regression in Range Space
Margaret Hansen,David Wettergreen,Margaret Hansen,David Wettergreen
This work introduces range-based GP maps, which directly represent terrain by modeling the range from a LiDAR sensor as a Gaussian process (GP) in spherical space. Such a model aligns the predicted uncertainty from the GP regression with the uncertainty in the underlying sensor observations. Experimental evaluation on simulated natural terrain indicates that local range-based GP maps perform compa...
