FastSLAM Using Compressed Occupancy Grids

Algorithm 2

Standard occupancy grid update algorithm.

) procedure OGUPDATE()

()  for  ,   do

()    for  ,   do

()      for  ,   do

()        if   lies in the perceptual range of   then

()          

()        end if

()      end for

()    end for

()  end for

() end procedure