Abstract
For autonomous navigation of a mobile robot, 3D map has some advantages over 2D map particularly in dynamic environments where occlusion may occur due to moving objects. This paper discusses the expression of the 3D map for estimation of planar position and pose. We propose a single layer expression where the most significant cuboid (MSC) is recorded on each cell of the 2D grid. Experimental comparison with MLS map show there is no significant difference in navigation performance.
