公开(公告)号：US11557137B2

公开(公告)日：2023-01-17

申请号：US17410824

申请日：2021-08-24

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Yoon Seon Oh ,  Ho Yeon Hwang ,  Sung Kee Park ,  Chang Joo Nam

IPC: G06V30/262 ,  G06K9/62 ,  G06T7/77 ,  G06V20/10 ,  G06V20/64

Abstract: The system includes a metric map creation unit configured to create a metric map using first image data received from a 3D sensor, an image processing unit configured to recognize an object by creating and classifying a point cloud using second image data received from an RGB camera; a probability-based map production unit configured to create an object location map and a spatial semantic map in a probabilistic expression method using a processing result of the image processing unit, a question creation unit configured to extract a portion of high uncertainty about an object class from a produced map on the basis of entropy and ask a user about the portion, and a map update unit configured to receive a response from the user and update a probability distribution for spatial information according to a change in probability distribution for classification of the object.