SYSTEM AND METHOD FOR WRITING OCCUPANCY GRID MAP OF SENSOR CENTERED COORDINATE SYSTEM USING LASER SCANNER
First Claim
1. A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the system comprising:
- a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor;
a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor; and
a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit.
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Abstract
A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner includes a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor, a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor, and a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit.
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Citations
8 Claims
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1. A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the system comprising:
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a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor; a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor; and a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit. - View Dependent Claims (2, 3)
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4. A method for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the method comprising:
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measuring a scan data by using the laser scanner provided to a user vehicle; writing a predicted map which is predicted as a sensor centered coordinate system by using a past measurement map and data relating to a movement of the sensor; writing a current measurement map by using the measured scan data; and writing the occupancy grid map of a sensor centered coordinate system by stochastically combining the written current measurement map with the written predicted map. - View Dependent Claims (5, 6, 7, 8)
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Specification