In Thrun's Probabilistic Robotics, section 6.4 "Likelihood Fields for Range Finders", there's mention of pre-computing the likelihood field in practice, for the sake of computational efficiency. What's being pre-computed here? If this measurement model is being used to fill a discrete grid, does that mean pre-computing the neighbors for any given grid cell? Or pre-computing the distance to those surrounding grid cells? Or something else?



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