updateOccupancy

Update occupancy probability at locations

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Syntax

updateOccupancy(map,occMatrix)

updateOccupancy(map,locations,obs)

updateOccupancy(map,xy,obs,'world')

updateOccupancy(map,xy,obs,'local')

updateOccupancy(map,ij,obs,'grid')

updateOccupancy(map,bottomLeft,obsMatrix)

updateOccupancy(map,bottomLeft,obsMatrix,'world')

updateOccupancy(map,bottomLeft,obsMatrix,'local')

updateOccupancy(map,topLeft,obsMatrix,'grid')

Description

This MATLAB^® function probabilistically integrates occupancy values into the occupancy values of an occupancy map.

updateOccupancy(map,occMatrix) probabilistically integrates a matrix of occupancy values, occMatrix, with the current occupancy matrix of the occupancyMap object map. The size of the matrix must be equal to the GridSize property of map.

updateOccupancy(map,locations,obs) probabilistically integrates observation values, obs, into the occupancy map cells corresponding to the n-by-2 matrix of world coordinates locations. Observation values are determined based on the Inverse Sensor Model.

example

updateOccupancy(map,xy,obs,'world') probabilistically integrates observation values, obs, into the cells corresponding to the n-by-2 matrix of world coordinates xy.

updateOccupancy(map,xy,obs,'local') probabilistically integrates observation values, obs, into the cells corresponding to the n-by-2 matrix of local coordinates xy.

updateOccupancy(map,ij,obs,'grid') probabilistically integrates observation values, obs, into the cells corresponding to the n-by-2 matrix of grid indices ij.

updateOccupancy(map,bottomLeft,obsMatrix) probabilistically integrates an m-by-n matrix of observation values, obsMatrix, into a subregion in the map. Specify the bottom-left corner of the subregion as a world position, bottomLeft. The subregion extends m rows up and n columns to the right from the specified position.

updateOccupancy(map,bottomLeft,obsMatrix,'world') probabilistically integrates an m-by-n matrix of observation values, obsMatrix, into a subregion in the map. Specify the bottom-left corner of the subregion as a world position, bottomLeft. The subregion extends m rows up and n columns to the right from the specified position.

updateOccupancy(map,bottomLeft,obsMatrix,'local') probabilistically integrates an m-by-n matrix of observation values, obsMatrix, into a subregion in the map. Specify the bottom-left corner of the subregion as a local position, bottomLeft. The subregion extends m rows up and n columns to the right from the specified position.

updateOccupancy(map,topLeft,obsMatrix,'grid') probabilistically integrates an m-by-n matrix of observation values, obsMatrix, into a subregion in the map. Specify the top-left corner of the subregion as a grid index, topLeft. The subregion extends m rows down and n columns to the right from the specified index.

Examples

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Create and Modify Occupancy Map

Open Live Script

Create an empty map of 10-by-10 meters in size.

map = occupancyMap(10,10,10);

Update the occupancy of specific world locations with new probability values and display the map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

pvalues = [0.2; 0.4; 0.6; 0.8; 1];

updateOccupancy(map,[x y],pvalues)
figure
show(map)

Inflate the occupied areas by a radius of 0.5 m. The larger occupancy values overwrite the smaller values.

inflate(map,0.5)
figure
show(map)

Get the grid locations from the world locations.

ij = world2grid(map,[x y]);

Set occupancy values for the grid locations.

setOccupancy(map,ij,ones(5,1),'grid')
figure
show(map)

Input Arguments

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`map` — Map representation
`occupancyMap` object

Map representation, specified as an occupancyMap object. This object represents the environment of the vehicle. The object contains a matrix grid with each value representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and contains no obstacles.

`occMatrix` — Matrix of occupancy values
numeric matrix | logical matrix

Matrix of occupancy values, specified as a matrix. The size of the matrix must be equal to the GridSize property of map.

The occupancy values can be of any numeric type, with values between 0 and 1. If the matrix is logical, the default occupancy values of 0.7 (true) and 0.4 (false) are used.

Example: updateOccupancy(map,ones(map.GridSize)*0.6)

Data Types: single | double | logical

`locations` — Cell locations in world coordinates
n-by-2 matrix

Cell locations in world coordinates, specified as an n-by-2 matrix with rows of the form [x y], where n is the number of world coordinates. The function ignores locations outside of the map boundaries.

Example: updateOccupancy(map,[1 1; 3 3; 5 5],false)