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

Claim 14:
15. A method comprising:
receiving sensor data within a field of view;
creating a probabilistic model of a sensor field of view;
updating an occlusion probability map in a time sequence using the probabilistic model and the sensor data;
determining spatial traversability map of a vehicle based on the occlusion probability map; and
actuating the vehicle based on the spatial traversability map;
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.