Dense 3D Grid Maps (500 MIPS)

A million ranges from 100 stereoscopic views merged in a 3D evidence grid produced a very high quality map with potential for very reliable navigation, in near real time on a robot-portable microcomputer. The stereo sensor model was trained to optimize the similarity of grid virtual views to the corresponding camera images of the real scene. 3D grid map programs were developed from 1992 to 2002.