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(DOI: 10.1007/978-3-540-33453-8_19) This paper introduces the structure of wavelet occupancy grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that。

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WavOG as a compact multi-scaled tool provides an efficient framework for the various algorithms that use OGs such as robot navigation, spatio-temporal classification or multiple target。

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