Patent ID: 11919525
Assignee: AUTONOMOUS SOLUTIONS, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A method comprising:
determining whether a cell of a plurality of cells within a field of view has been observed;
setting the occlusion probability of the cell to zero when the cell has been observed;
when the cell has not been observed, determining whether the cell is independent;
setting the occlusion probability of the cell to the previous occlusion probability when the cell is not independent; and
setting the occlusion probability using an occlusion probability update function when the cell is independent, wherein the occlusion probability update function comprises mr,ck=1−(1−sr,c)(1−mr,ck-1), where mr,ck represents the occlusion probability of map m of the cell at column c and row r for iteration k and sr,c represents the scan cell detection probability of the cell at column c and row r.