Hi, I'm working on a project that uses UFastSLAM and a robot equipped with lidar and odometry sensors. I want to implement an occupancy grid map. The algorithm already gives me the predicted position of the landmark coordinates and the position of the robot. I saw in Probabilisti Robotics the algorithm, but I do not understand how to find the grids that are in the laser beam. I know my current position and the landmark, but how can I determine the probabilities of the other grid. I work in python and do not know how to implement the map algorithm. If you have implementations, tutorials or something more explicit please help me. Thank you.