A probability occupancy grid uses probability values to create a more detailed map representation. This representation is the preferred method for using occupancy grids. This grid is commonly referred to as simply an occupancy grid. Each cell in the occupancy grid has a value
Binary and probability occupancy grids share several properties and algorithm details. Grid and word coordinates apply to both types of occupancy grids. The inflation method also applies to both grids, but each grid implements it differently. The effects of the log-odds representation and probability saturation apply to probability occupancy grids only.