Grid occupancy mapping using error range distribution

Abstract

A technology is described for mapping a physical environment. An example method may include receiving laser point data for laser light reflected from the physical environment and detected by a laser sensor. Points included in the laser point data can be correlated to grid cells in an environment map that represents the physical environment. Error ranges for the points correlated to the grid cells can be determined based in part on an error distribution. Occupation probabilities can then be calculated for the grid cells in the environment map using an interpolation technique and grid cell occupation probabilities for adjacent error grid cells selected based in part on the error ranges of the points, and the grid cells in the environment map can be updated with the occupation probabilities.