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,wherein the occupancy grid map is recursively updated by using the scan data which is measured every hour.
1 Assignment
0 Petitions
Accused Products
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.
24 Citations
6 Claims
-
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. - View Dependent Claims (2)
-
-
3. A method for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the method comprising:
-
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, wherein the occupancy grid map is recursively updated by using the scan data which is measured every hour. - View Dependent Claims (4, 5, 6)
-
Specification