The present invention provides to a detection of a boundary in an environment. For this purpose, information of an occupancy grid is used, wherein the occupancy grid provides information about the probability of occupancy in the environment. Upon detecting a starting transition point between a free and an occupied grid cell in the occupancy grid, a region of interest window surrounding the starting transition point is analyzed to identify further transition points. The identified transition points are combined to one or more polygon chain. After the analysis of the boundary is performed within the region of interest, successive regions of interest may be analyzed. For this purpose, the successive regions of interest are determined based on the transition points and/or the boundary information of a current region of interest window.
METHOD AND APPARATUS FOR DETECTING A BOUNDARY IN AN ENVI-RONMENT OF AN OBJECT
VERFAHREN UND VORRICHTUNG ZUR ERKENNUNG EINER GRENZE IN EINER UMGEBUNG EINES OBJEKTES
PROCÉDÉ ET APPAREIL POUR LA DÉTECTION D'UNE LIMITE DANS UN ENVIRONMENT D'UN OBJET
2023-09-06
Patent
Electronic Resource
English
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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