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

Claim 18:
19. A device for path planning and navigating to a goal position, the device comprising:
a memory configured to store instructions; and
a processor configured to execute the instructions to:
capture a depth image of a region of interest (ROI) from a first height;
generate an occupancy map corresponding to the ROI based on the captured depth image;
generate an inpainted map by inputting the occupancy map into a trained inpainting network;
update a global map based on the inpainted map;
plan a path to the goal position based on the updated global map; and
travel to the goal position based on the planned path,

wherein the processor is further configured to determine occupancy scores for the cells of the occupancy map, the occupancy scores indicating probabilities of objects occupying the cells, and
wherein the processor is further configured to:
obtain a three-dimensional (3D) data point, in the depth image, corresponding to the cell;
add, based on a 3D data point being on a ground surface, a constant value to an occupancy score; and
subtract, based on the 3D data point not being on the ground surface, the constant value from the occupancy score.