Handling uncertainty associated with a sensor measurement using a previously determined combined occupancy grid

A system for handling uncertainty associated with a sensor measurement using a previously determined combined occupancy grid, the system comprising:

• a plurality of sensors;
• and
• an electronic processor, the electronic processor configured to,
• determine a combined occupancy grid associated with a first time using measurements received from the plurality of sensors and associated with the first time;
• receive a measurement associated with a second time from a sensor of the plurality of sensors;
• determine an uncertainty grid associated with the second time including an uncertainty distribution associated with the measurement associated with the second time;
• convolute the combined occupancy grid associated with the first time with the uncertainty grid associated with the second time to determine one or more convolution values, wherein each convolution value is associated with a cell in the uncertainty grid;
• determine a cell associated with a greatest convolution value;
• assign a first probability to the cell associated with the greatest convolution value;
• assign a second probability to a cell associated with a mean of the uncertainty distribution;
• using the first probability and the second probability, determine a combined occupancy grid associated with the second time;
• and
• control a machine based on the combined occupancy grid associated with the second time, wherein the machine is configured to move autonomously or semi-autonomously.