Wavelet Occupancy Grids: A Method for Compact Map Building

This paper introduces the structure of wavelet occupancy grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that WavOGs provide a continuous semantics of occupancy through scaled spaces. In accordance with the theoretical properties of wavelets, our experiments have validated that WavOGs allow major memory gains. WavOG as a compact multi-scaled tool provides an efficient framework for the various algorithms that use OGs such as robot navigation, spatio-temporal classification or multiple target-tracking. In future works we plan to apply WavOGs to the monitoring of urban traffic over large areas.