7 Conclusion and Future Works This paper introduces the structure of wavelet occupancy
grids (WavOGs) as a tool for storing occupancy grids in a compact way. We have shown that
WavOGs provide a continuous semantics of occupancy through scaled spaces. In
accordance with the theoretical properties of wavelets, our experiments have validated that
WavOGs allow major memory gains. WavOG as a compact multi-scaled tool provides an
efficient framework for the various algorithms that use OGs such as robot navigation, spatio …