Patent ID: 11931900
Assignee: SAMSUNG ELECTRONICS CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A device for training an inpainting network to predict occupancy of unseen areas in a region of interest (ROI), the device comprising:
a memory configured to store instructions; and
a processor configured to execute the instructions to:
obtain an upper depth image of the ROI from an upper three-dimensional (3D) mapping sensor positioned at a first height and a lower depth image of the ROI from a lower 3D mapping sensor positioned at a second height lower than the first height;
generate an upper occupancy map based on the upper depth image and a lower occupancy map based on the lower depth image;
generate a ground truth map by combining the upper occupancy map and the lower occupancy map;
generate an inpainted map by inputting the lower occupancy map into the inpainting network; and
train the inpainting network by comparing the inpainted map to the ground truth map,

wherein the processor is further configured to:
divide an area corresponding to the ROI into an array of upper cells and determine upper occupancy scores for the upper cells, the upper occupancy scores indicating probabilities of objects occupying the upper cells; and
divide the area corresponding to the ROI into an array of lower cells and determine lower occupancy scores for the lower cells, the occupancy scores indicating probabilities of objects occupying the lower cells, and

wherein the processor is further configured to:
obtain a 3D data point, in the upper depth image, corresponding to the upper cell;
add based on the 3D data point in the upper depth image being on a ground surface, a constant value to an upper occupancy score;
subtract, based on the 3D data point in the upper depth image not being on the ground surface, the constant value from the upper occupancy score;
obtain a 3D data point, in the lower depth image, corresponding to a lower cell;
add, based on the 3D data point in the lower depth image being on the ground surface, the constant value to a lower occupancy score; and
subtract, based on the 3D data point in the lower depth image not being on the ground surface, the constant value from the lower occupancy score.