We introduce a pignistic-transform-based methodology for fair comparison of Bayesian log-odds and Dempster's combination rule in occupancy grid mapping, matching per-observation decision probabilities to isolate the fusion rule from sensor parameterization. Under BetP matching across simulation, two real lidar datasets, and downstream path planning, Bayesian fusion is consistently favored (15/15 directional consistency, p = 3.1e-5) with small absolute differences (0.001-0.022). Under normalized plausibility matching, the direction reverses, confirming the result is matching-criterion-specific. The methodology is reusable for any future Bayesian/belief function comparison.

翻译：本文提出了一种基于信度变换的方法，用于在占据栅格建图中公平比较贝叶斯对数几率与Dempster组合规则。该方法通过匹配每次观测的决策概率，将融合规则与传感器参数化分离开来。在仿真、两个真实激光雷达数据集以及下游路径规划任务中，基于BetP匹配的实验结果表明，贝叶斯融合始终更受青睐（15/15方向一致性，p = 3.1e-5），且绝对差异较小（0.001-0.022）。而在归一化似真性匹配条件下，优劣方向发生逆转，证实了该结果对匹配准则具有特异性。该方法可复用于未来任何贝叶斯/信度函数的比较研究。