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

Claim 19:
20. A non-transitory computer-readable medium storing instructions, the instructions comprising one or more instructions that, when executed by one or more processors of a mobile device, cause the one or more processors to:
obtain an upper depth image of a region of interest (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;
generate an upper occupancy map based on the upper depth image and a lower occupancy map based on the lower depth image;
generate a ground truth map by combining the upper occupancy map and the lower occupancy map;
generate an inpainted map by inputting the lower occupancy map into the inpainting network; and
train the inpainting network by comparing the inpainted map to the ground truth map,
wherein the upper occupancy map is generated by 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 lower occupancy map is generated by 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,
wherein an upper occupancy score of an upper cell is determined by:
obtaining a three-dimensional (3D) data point, in the upper depth image, corresponding to the upper cell;
adding, based on the 3D data point in the upper depth image being on a ground surface, a constant value to the upper occupancy score; and
subtracting, based on the 3D data point in the upper depth image not being on the ground surface, the constant value from the upper occupancy score, and

wherein determining a lower occupancy score of a lower cell comprises:
obtaining a 3D data point, in the lower depth image, corresponding to the lower cell;
adding, based on the 3D data point in the lower depth image being on the ground surface, the constant value to the lower occupancy score; and
subtracting, based on the 3D data point in the lower depth image not being on the ground surface, the constant value from the lower occupancy score.