Memory-like Map Decay for Autonomous Vehicles based on Grid Maps

Understand

In this work, we present a novel strategy for correcting imperfections in occupancy grid maps called map decay.

• The objective of map decay is to correct invalid occupancy probabilities of map cells that are unobservable by sensors.
• The strategy was inspired by an analogy between the memory architecture believed to exist in the human brain and the maps maintained by an autonomous vehicle.
• It consists in merging sensory information obtained during runtime (online) with a priori data from a high-precision map constructed offline.