This thesis based on probability grid approach's research. A modified algorithm via combining Temporal Local Occupancy Grids (TLOG) method is proposed in this thesis.

论文基于对概率栅格法(OG)的研究分析，提出了临时局部栅格法(TLOG)，通过运用TLOG，改进了一种基于概率模型的栅格地图创建方法。

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The third chapter based on probability grid approach's research. A modified algorithm via combining Temporal Local Occupancy Grids (TLOG) method is proposed in this thesis.

第三章就地图创建问题，提出了临时局部栅格法(TLOG)，并以此改进了一种基于概率模型的栅格地图创建方法。

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