Multidimensional evidence grids and system and methods for applying same

A mapping system for use with a mobile unit, the system comprising:

• range sensors configured to collect range data;
• a data storage system having stored therein a sensor model comprising adjustable parameters representing inaccuracies of the range sensors;
• a grid engine configured to adjust the adjustable parameters based on received range data from the range sensors;
• and
• a mapping module configured to generate map of the environment from a multidimensional evidence grid using the received range data and adjustable parameters, the multidimensional evidence grid comprising voxels having voxel volumes representing probabilities of occupancies of points in space within, wherein probability information for a voxel comprises a plurality of probability values for each point in space determined from the range data.

A method of generating a pixel mapping table comprising adjustable parameters of a sensor model comprises:

• activating range sensors;
• imaging a calibration array with the range sensors, the calibration array comprising spots on a contrasting background;
• generating a rectifying function from the calibration array;
• building a pixel mapping table from the rectifying function, wherein the pixel mapping table is an array having a size that corresponds to a number of pixels of the range sensors and contains information for correcting each pixel of an image from the range sensors;
• storing the pixel mapping table in a memory, the pixel mapping table comprising adjustable parameters representing inaccuracies of the range sensors;
• and
• updating the pixel mapping table over time using range data collected from the range sensors.