What would be optimal data structure for storing observation data and deduced 2D map data? First thing what comes to mind is to store the observations (coordinate, orientation and distance to obstacle) to a vector and map to a simple raster (bitmap). More advanced presentation for the computed map data could be lines (in nxj api), polygons or splines. Has anyone worked on polygon or spline based maps and is there open source code available? Does anyone know online resources discussing algorithms for creating spline based maps from discrete observation data? I would like to try creating open source library one could use together with NXJ API. Anyone interested on collaborating on this subject?