updateOccupancy

Update occupancy probability at locations

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.

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

Create and Modify Occupancy Map

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

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)

Data Types: single | double

bottomLeft — Location of bottom-left corner of observation matrix

two-element vector

Location of the bottom-left corner of the observation matrix, specified as a two-element vector of the form [xCoord yCoord]. The location is in world or local coordinates, based on the syntax.

Example: updateOccupancy(map,[2 2],[0.2 0.4; 0.6 0.8],'world')

Data Types: single | double

topLeft — Location of top-left corner of grid

two-element vector

Location of the top-left corner of the grid, specified as a two-element vector of form [iCoord jCoord].

Example: updateOccupancy(map,[2 2],[0.2 0.4; 0.6 0.8],'grid')

Data Types: single | double

xy — World or local coordinates

n-by-2 matrix

World or local coordinates, specified as an n-by-2 matrix with rows of the form [x y], where n is the number of coordinates.

Example: updateOccupancy(map,[2 2; 4 4; 6 6],[0.2; 0.4; 0.6],'world')

Data Types: single | double

ij — Grid positions

n-by-2 matrix

Grid positions, specified as an n-by-2 matrix with rows of the form [i j] in [rows cols] format, where n is the number of grid positions.

Example: updateOccupancy(map,[2 2; 4 4; 6 6],[0.2; 0.4; 0.6],'grid')

Data Types: single | double

obs — Probability observation values

n-element numeric column vector | n-element logical column vector | numeric scalar | logical scalar

Probability observation values, specified as a numeric or logical scalar or a numeric or logical n-element column vector the same size as either locations, xy, or ij.

obs values can be any value from 0 to 1, but if obs is a logical vector, the default observation values of 0.7 (true) and 0.4 (false) are used. If obs is a numeric or a logical scalar, the value is applied to all coordinates in locations, xy, or ij. These values correlate to the Inverse Sensor Model for ray casting.

Example: updateOccupancy(map,[2 2; 4 4; 6 6],[0.2; 0.4; 0.6],'local')

Data Types: single | double | logical

obsMatrix — Matrix of probability observation values

m-by-n numeric matrix | m-by-n logical matrix

Matrix of probability observation values, specified as an m-by-n numeric or logical matrix.

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

Example: updateOccupancy(map,[2 2],[0.2 0.4; 0.6 0.8])

Data Types: single | double | logical

More About

Inverse Sensor Model

The inverse sensor model determines how values are set along a ray from a range sensor reading to the obstacles in the map. NaN range values are ignored. Range values greater than maxrange are not updated.

Grid locations that contain range readings are updated with the occupied probability. Locations before the reading are updated with the free probability. All locations after the reading are not updated.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b