1990-2D evidence grid of a difficult
hallway
A robot with a belt of 24 Polaroid sonar units obtained 624 range
measurements along an 8 meter hallway. More than half the ranges
were too long or missing because of deflections by the mirrorlike
walls. A good reconstruction, in a 64 by 32 cell grid, was
nevertheless obtained because the evidence patterns representing sonar
ranges had been well adjusted for this kind of environment by a
learning process. The traversed hallway runs left-right. The start
of an adjoining hallway, running upwards, can be seen on the right.