公开(公告)号：US11300964B2

公开(公告)日：2022-04-12

申请号：US15817421

申请日：2017-11-20

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sung-Eui Yoon ,  Youngsun Kwon ,  Donghyuk Kim

IPC: G01S17/89 ,  B25J9/16 ,  G01S7/48 ,  G05D1/02

Abstract: A method and system for updates an occupancy map based on a first ray determined from a plurality of rays, as known as 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, determining 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.