FastSLAM Using Compressed Occupancy Grids

Algorithm 4

Construction of .

) procedure ALPHACONSTRUCTION()

()  for  ,   do

()    

()  end for

()  for  ,   do

()    for  ,   do

()      if   in the perceptual range of   then

()        

()      end if

()    end for

()  end for

() end procedure