Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps.

To detect changes in an environment, one has to decide whether a set of recent observations is incompatible with a set of previous observations. For binary, lidar-based grid maps, this is essentially the case when the laser beam traverses a voxel that has been observed as occupied, or when the beam is reflected by a voxel that has been observed as empty. However, in real-world environments, some v...