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

Claim 21:
22. 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:
capture a depth image of a region of interest (ROI) from a first height;
generate an occupancy map corresponding to the ROI based on the captured depth image;
generate an inpainted map by inputting the occupancy map into a trained inpainting network;
update a global map based on the inpainted map;
plan a path to a goal position based on the updated global map; and
travel to the goal position based on the planned path,
wherein the occupancy map is generated by determining occupancy scores for the cells of the occupancy map, the occupancy scores indicating probabilities of objects occupying the cells, and
wherein an occupancy score of a cell of the occupancy map is determined by:
obtaining a three-dimensional (3D) data point, in the depth image, corresponding to the cell;
adding, based on a 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.