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Pixel array based 3D range sensors like stereo cameras and time of flight sensors are commonly used for spatial mapping. Analogous to a laser range finder beam, each pixel measures distances within its conical field of view. However, unlike laser range finders, these sensors use incoherent visible or near visible light for range measurement. This, combined with their relatively long maximum ranges, means that the convenient thin beam assumption can no longer be used to update an occupancy griddoi:10.1109/iros.2008.4650841 dblp:conf/iros/PathakBP08 fatcat:cfcto6r2kbb7ndnpmge2zcwov4