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System and method for writing occupancy grid map of sensor centered coordinate system using laser scanner

  • US 9,827,994 B2
  • Filed: 12/03/2015
  • Issued: 11/28/2017
  • Est. Priority Date: 06/25/2015
  • Status: Active Grant
First Claim
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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:

  • 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,wherein the occupancy grid map is recursively updated by using the scan data which is measured every hour.

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