Hey there,I'm a master steudnt in University of Toronto, Michael.Your work is awesome.Now I just start to do a research about the occupancy grid.and there are some questions I've encountered and hope you can give me some ideas.I'll really appreciate that.Here are the problems:1.Do we need any data set from the robot sensors? If so, how do they look like?2. Do we need to know the preliminary information about the map (environment) that the robot is in?3. Is there any algorithm/sudocode available for Occupancy Grids? -because I don't have any statistics background.Thank you for your time and attention. : )