Invention Application
- Patent Title: METHOD AND SYSTEM FOR UPDATING OCCUPANCY MAP BASED ON SUPER RAY
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Application No.: US15817421Application Date: 2017-11-20
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Publication No.: US20180173239A1Publication Date: 2018-06-21
- Inventor: Sung-Eui YOON , Youngsun KWON , Donghyuk KIM
- Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
- Applicant Address: KR Daejeon
- Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
- Current Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
- Current Assignee Address: KR Daejeon
- Priority: KR10-2016-0174452 20161220; KR10-2017-0122381 20170922
- Main IPC: G05D1/02
- IPC: G05D1/02 ; G01S17/89 ; B25J9/16

Abstract:
Disclosed herein are a method and system for updating an occupancy map based on a super ray. The method of updating an occupancy map based on grids and octrees includes the step of generating a mapping line based on point clouds obtained from a sensor, generating a super ray by identifying a cell belonging to a plurality of cells forming the occupancy map and traversing an identical cell based on the generated mapping line, and updating the occupancy map by updating a cell through which the super ray corresponding to some of rays related to the plurality of cells forming the occupancy map passes.
Public/Granted literature
- US11300964B2 Method and system for updating occupancy map for a robotic system Public/Granted day:2022-04-12
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