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

Claim 10:
11. A method comprising:
receiving two dimensional field of view data from an optical sensor system;
producing a probabilistic model of the sensor field of view; and
updating an occlusion probability map using the probabilistic model and the field of view data, the occlusion probability map represents the probability that the sensor field is occluded from one or more sensors,
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.