Patent ID: 7912583
Filing Date: 2011-03-22
Classification: G06K,G06T

Abstract:
1. A method for a device to build an environment map of an environment, the method comprising: detecting external environment conditions in the environment; building the three-dimensional map showing a state of occupancy of a three-dimensional grid based on the external environment conditions, wherein the three-dimensional grid comprises cells corresponding to box-shaped spaces of the environment; building a relative-to-base-plane height map showing heights from a two-dimensional base plane based on the external environment conditions; modifying the relative-to-base-plane height map based on the three-dimensional map; updating occupancy probability of the cells when height information of the relative-to-base-plane height map corresponds to the cells; and controlling moving actions of the device for stepping up a staircase in the environment by using the relative-to-base-plane height map as the environment map, wherein the device steps up the staircase by transmitting infrared rays, the infrared rays forming a random pattern used to acquire a distance image.