PATH PLANNING METHOD AND RELATED NAVIGATION DEVICE
First Claim
1. A path planning method applied to a navigation device, the path planning method comprising:
- acquiring a two-dimensional depth map;
transforming the two-dimensional depth map into a gray distribution map via statistics of pixel values on the two-dimensional depth map;
computing a space matching map by arranging pixel counts on the gray distribution map; and
computing a weighting value about each angle range of the space matching map in accordance with a distance from location of a pixel count to a reference point of the space matching map, wherein the weighting value represents existential probability of an obstacle within the said angle range and a probable distance between the navigation device and the obstacle.
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Abstract
A path planning method applied to a navigation device includes acquiring a two-dimensional depth map, transforming the two-dimensional depth map into a gray distribution map via statistics of pixel values on the two-dimensional depth map, computing a space matching map by arranging pixel counts on the gray distribution map, and computing a weighting value about each angle range of the space matching map in accordance with a distance from location of a pixel count to a reference point of the space matching map. The weighting value represents existential probability of an obstacle within the said angle range and a probable distance between the navigation device and the obstacle.
22 Citations
28 Claims
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1. A path planning method applied to a navigation device, the path planning method comprising:
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acquiring a two-dimensional depth map; transforming the two-dimensional depth map into a gray distribution map via statistics of pixel values on the two-dimensional depth map; computing a space matching map by arranging pixel counts on the gray distribution map; and computing a weighting value about each angle range of the space matching map in accordance with a distance from location of a pixel count to a reference point of the space matching map, wherein the weighting value represents existential probability of an obstacle within the said angle range and a probable distance between the navigation device and the obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A navigation device with a path planning function, the navigation device comprising:
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a data communication unit adapted to acquire a two-dimensional depth map; and a computing processor electrically connected with the data communication unit and adapted to analyze a two-dimensional depth map, to transform the two-dimensional depth map into a gray distribution map via statistics of pixel values on the two-dimensional depth map, to compute a space matching map by arranging pixel counts on the gray distribution map, and to acquire a weighting value about each angle range of the space matching map in accordance with a distance from location of a pixel count to a reference point of the space matching map; wherein the weighting value represents existential probability of an obstacle within the said angle range and a probable distance between the navigation device and the obstacle.
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Specification