Map Representation
Map = Data Structure + Fusion Method
Occupancy grid map
2.5d Map - elevation map
- Most Dense
- Structual
- Direct Index Query
Octo-map
- Sparse
- Structual
- Indirect Index Query
Voxel hashing
- Most Sparse
- Structual
- Indirect Index Query
Point cloud map
- Un-ordered
- No Index Query
TSDF map
Truncated Signed Distance Functions
ESDF map
Euclidean Signed Distance Functions
Incremental Update, Global Map