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

Claim 11:
12. A method of path planning and navigating to a goal position comprising:
capturing a depth image of a region of interest (ROI) from a first height;
generating an occupancy map corresponding to the ROI based on the captured depth image;
generating an inpainted map by inputting the occupancy map into a trained inpainting network;
updating a global map based on the inpainted map;
planning a path to the goal position based on the updated global map; and
traveling to the goal position based on the planned path,
wherein the generating the occupancy map comprises determining occupancy scores for the cells of the occupancy map, the occupancy scores indicating probabilities of objects occupying the cells, and
wherein determining an occupancy score of a cell of the occupancy map comprises:
obtaining a three-dimensional (3D) data point, in the depth image, corresponding to the cell;
adding, based on the 3D data point being on a ground surface, a constant value to the occupancy score; and
subtracting, based on the 3D data point not being on the ground surface, the constant value from the occupancy score.