Equivalence and Divergence of Bayesian Log-Odds and Dempster's Combination Rule for 2D Occupancy Grids
Fuente:
arXiv
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917286412025856 |
|---|---|
| author | Berlenko, Tatiana Krinkin, Kirill |
| author_facet | Berlenko, Tatiana Krinkin, Kirill |
| contents | We introduce a pignistic-transform-based methodology for fair comparison of Bayesian log-odds and Dempster's combination rule in occupancy grid mapping, matching per-observation decision probabilities to isolate the fusion rule from sensor parameterization. Under BetP matching across simulation, two real lidar datasets, and downstream path planning, Bayesian fusion is consistently favored (15/15 directional consistency, p = 3.1e-5) with small absolute differences (0.001-0.022). Under normalized plausibility matching, the direction reverses, confirming the result is matching-criterion-specific. The methodology is reusable for any future Bayesian/belief function comparison. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18872 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Equivalence and Divergence of Bayesian Log-Odds and Dempster's Combination Rule for 2D Occupancy Grids Berlenko, Tatiana Krinkin, Kirill Robotics We introduce a pignistic-transform-based methodology for fair comparison of Bayesian log-odds and Dempster's combination rule in occupancy grid mapping, matching per-observation decision probabilities to isolate the fusion rule from sensor parameterization. Under BetP matching across simulation, two real lidar datasets, and downstream path planning, Bayesian fusion is consistently favored (15/15 directional consistency, p = 3.1e-5) with small absolute differences (0.001-0.022). Under normalized plausibility matching, the direction reverses, confirming the result is matching-criterion-specific. The methodology is reusable for any future Bayesian/belief function comparison. |
| title | Equivalence and Divergence of Bayesian Log-Odds and Dempster's Combination Rule for 2D Occupancy Grids |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.18872 |