Mapping is the ability of a robot to understand its surroundings with external sensors such as LIDAR and camera. Robots have to recognize the position and shape of obstacles to avoid them. In mapping, grid mapping and machine learning algorithms are widely used[31][18]. Fig.3 shows mapping simulation results using grid mapping with 2D ray casting and 2D object clustering with k-means algorithm.

.. toctree::
   :maxdepth: 2
   :caption: Contents

   gaussian_grid_map/gaussian_grid_map
   ndt_map/ndt_map
   ray_casting_grid_map/ray_casting_grid_map
   lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial
   point_cloud_sampling/point_cloud_sampling
   k_means_object_clustering/k_means_object_clustering
   circle_fitting/circle_fitting
   rectangle_fitting/rectangle_fitting
   normal_vector_estimation/normal_vector_estimation
   distance_map/distance_map