A quantized approach for occupancy grids for autonomous vehicles: Q-Trees

Onur Sencan*, Hakan Temeltas

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Map Representation of the Real World is an essential step in robotics for using the mathematical methods in an abstract way. In addition to grid-based and topological studies on this area, this paper uses both approaches representing the environment with independent graph trees for all axes. We are proposing a methodology that allows us to substitute point clouds on grids in an efficient way and can be easily adapted to multi-system approaches even in real time with low-level computational systems.

Original languageEnglish
Pages (from-to)575-589
Number of pages15
JournalAdvanced Robotics
Issue number11
Publication statusPublished - 3 Jun 2018

Bibliographical note

Publisher Copyright:
© 2018, © 2018 Taylor & Francis and The Robotics Society of Japan.


  • environment modeling
  • graph trees
  • grid mapping
  • occupancy grids
  • Space partitioning


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