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

Claim 17:
18. A device for predicting 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 a depth image of the ROI, the depth image being captured from a first height;
generate an occupancy map based on the obtained depth image, the occupancy map comprising an array of cells corresponding to locations in the ROI, each cell having an occupancy score; and
generate an inpainted map by inputting the occupancy map into a trained inpainting network, the inpainted map comprising an array of cells corresponding to the ROI, each cell having an occupancy score,

wherein the inpainting network is trained by comparing an output of the inpainting network, based on inputting a training depth image taken from the first height, to a ground truth map, the ground truth map being based on a combination of the training depth image and a depth image taken at a height different than the first height,
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 the occupancy score; and
subtract, based on the 3D data point not being on the ground surface, the constant value from the occupancy score.