METHOD AND SYSTEM FOR MAPPING ENVIRONMENTS CONTAINING DYNAMIC OBSTACLES
First Claim
1. A method for mapping an environment containing dynamic obstacles comprising the steps of:
- forming a current instantaneous map of the environment using a processor;
determining free cells which are free space within the current instantaneous map using the processor;
determining occupied cells which are occupied space within the current instantaneous map using the processor; and
integrating the current instantaneous map with an old integrated map of the environment to form a new integrated map of the environment using the processor.
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Abstract
The present invention relates to a method and system for mapping environments containing dynamic obstacles. In one embodiment, the present invention is a method for mapping an environment containing dynamic obstacles using a processor including the steps of forming a current instantaneous map of the environment, determining cells which are free space within the current instantaneous map, determining cells which are occupied space within the current instantaneous map, and integrating the current instantaneous map with an old integrated map of the environment to form a new integrated map of the environment.
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Citations
20 Claims
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1. A method for mapping an environment containing dynamic obstacles comprising the steps of:
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forming a current instantaneous map of the environment using a processor; determining free cells which are free space within the current instantaneous map using the processor; determining occupied cells which are occupied space within the current instantaneous map using the processor; and integrating the current instantaneous map with an old integrated map of the environment to form a new integrated map of the environment using the processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for mapping an environment of an automobile containing dynamic obstacles comprising the steps of:
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forming a current instantaneous map of the environment using a processor; determining free cells which are free space within the current instantaneous map using the processor; determining occupied cells which are occupied space within the current instantaneous map using the processor; marking cells in a new integrated map as free space or occupied space based on the corresponding cells in the current instantaneous map using the processor; and marking, using the processor, unmarked cells in the new integrated map as free space which are below a first cell and above a second cell, have a same associated horizontal distance as the first cell, and which are located in a vertical line including the first cell that is substantially perpendicular to a ground plane. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system in an automobile for mapping an environment containing dynamic obstacles comprising:
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a sensor unit collecting environmental data; a location unit connected to the sensor unit, the location unit outputting location data of the sensor in relation to the environment; and a control unit connected to the sensor unit and the location unit, the control unit generating a new integrated map of the environment based on the environmental data and the location data of the sensor. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification