“…Occupancy grid mapping is proposed in late 1980’s and it is still implemented because of feature such as simplicity, easy to implemented and low computation is required (Elfes, 1989a, 1989b; Singh and Nagla, 2019e). Sonar occupancy grid mapping is generated by various techniques such as Grid Map, EKF, ICP, feature based mapping using constant depth of sonar, grid updating model to reduce the effect of specular reflection, sensor fusion in grid mapping and dedicated filter (Lim and Cho, 1994; Leonard and Durrant-Whyte, 2012; Nagla et al , 2012, 2015; Patle et al , 2016; Singh and Nagla, 2019b, 2019d). However, the reliability of the generated occupancy grid mapping is low because of spatial discretization, cross talk, wave interference, imprecision in determining the exact value of the probability in the particular cell, heavy computational load, lack of metric information, etc.…”