Handling uncertainty associated with a sensor measurement using a previously determined combined occupancy grid

System for handling uncertainty associated with a sensor measurement using a previously determined combined occupancy grid. The system includes a plurality of sensors and an electronic processor. The electronic processor is configured to determine a combined occupancy grid associated with a first time, receive a measurement associated with a second time, determine an uncertainty grid including an uncertainty distribution associated with the measurement, and convolute the combined occupancy grid associated with the first time with the uncertainty grid to determine one or more convolution values. Each convolution value is associated with a cell in the uncertainty grid. The electronic processor is configured to assign a first probability to a cell associated with a greatest convolution value, assign a second probability to a cell associated with a mean of the uncertainty distribution, and, using the first probability and the second probability, determine a combined occupancy grid associated with the second time.