An occupancy grid map device is configured to: obtain a point cloud for a surrounding environment from a sensor; detect a change in a state of the point cloud by comparing a previous point cloud and a current point cloud; and determine whether a space in which a state change of the point cloud occurs is occupied, wherein whether a space is occupied or not is reflected in the occupancy grid map. Therefore, it is possible to effectively generate the occupancy grid map for a dynamic obstacle.

    점유 격자 지도 장치는 센서로부터 주변 환경에 대한 포인트 클라우드를 획득하고, 직전 포인트 클라우드와 현재 포인트 클라우드의 비교를 통해 포인트 클라우드의 상태 변화를 감지하며, 상기 포인트 클라우드의 상태 변화가 발생된 공간의 점유 여부를 판단한다. 그리고 상기 공간의 점유 여부를 점유 격자 지도에 반영한다.


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    Title :

    APPARATUS AND METHOD FOR GENERATING OCCUPANCY GRID MAP


    Additional title:

    점유 격자 지도 생성 장치 및 방법


    Contributors:

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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