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. 2016 May 14;16(5):700. doi: 10.3390/s16050700

Algorithm 1 Probabilistic Map Generation.

$M A P \leftarrow e m p t y$
for $i \in [0, N]$ do
$P C_{I} \leftarrow filter (P C_{I})$
$P C_{I} \leftarrow align (P C_{I})$
$P C_{I} \leftarrow voxel (P C_{I})$
$addToHistory (P C_{I})$
end for
for $p o i n t i n P C_{i}$ do
if $p o i n t \exists i n P C_{i} w i t h i \in [0, N]$ then
$M A P$ add $p o i n t$
end if
end for