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

Claim 5:
6. A method of training an inpainting network to predict occupancy of unseen areas in a region of interest (ROI), the method comprising:
obtaining 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
generating an upper occupancy map based on the upper depth image and a lower occupancy map based on the lower depth image;
generating a ground truth map by combining the upper occupancy map and the lower occupancy map;
generating an inpainted map by inputting the lower occupancy map into the inpainting network; and
training the inpainting network by comparing the inpainted map to the ground truth map,
wherein the generating the upper occupancy map comprises dividing an area corresponding to the ROI into an array of upper cells and determining upper occupancy scores for the upper cells, the upper occupancy scores indicating probabilities of objects occupying the upper cells,
wherein the generating the lower occupancy map comprises dividing the area corresponding to the ROI into an array of lower cells and determining lower occupancy scores for the lower cells, the occupancy scores indicating probabilities of objects occupying the lower cells, and
wherein a size of a state produced by an encoder of the inpainting network that is input into a decoder of the inpainting network is selected based on a size of an object in a training environment.