Patent EP-3731130-A1 (EP)
Inventor: PLAZA VICTORIA
IPC: G06V20/00
Filed: 2019-04-23
Abstract: The present invention relates to an apparatus for determining an occupancy map, comprising an input unit, and a processing unit. The input unit is configured to provide the processing unit with a plurality of datasets of an object, wherein the plurality of datasets was acquired by a sensor positioned at a plurality of different locations. Each dataset was acquired at a different location, wherein data in each of the plurality of datasets comprises distance information from the sensor to the object. For a first location of the sensor the object is subtended by a first plurality of subtending lines extending from the first location to and through the object, and wherein for the first location a first dataset was acquired. The processing unit is configured to process the first dataset to determine a free area comprising a first free sub-area, wherein the first free sub-area comprises an area within a first plurality of lines extending from the first location that are different to the first plurality of subtending lines and comprises an area within the first plurality of subtending lines between the first location and the object. The processing unit is configured to process the first dataset to determine an outer extent of the object that surrounds an object area, the outer extent of the object comprising a first object sub-extent of the object subtended by the first plurality of subtending lines. The processing unit is configured to process the first dataset to determine an unknown area comprising a first unknown sub-area as an area other than the first free sub-area and the first object sub-extent. For a second location of the sensor the object is subtended by a second plurality of subtending lines extending from the second location to and through the object, and wherein for the second location a second dataset was acquired. The processing unit is configured to process the second dataset to determine a second free sub-area, wherein the second free sub-area comprises an area within a second plurality of lines extending from the second location that are different to the second plurality of subtending lines and comprises an area within the second plurality of subtending lines between the second location and the object. The processing unit is configured to process the second dataset to determine a second object sub-extent of the object subtended by the second plurality of subtending lines. The processing unit is configured to process the second dataset to determine a second unknown sub-area as an area other than the second free sub-area and the second object sub-extent. The processing unit is configured to determine an updated free area, an updated outer extent of the object, and an updated unknown area. The updated free area is determined as an area that is covered by the first free sub-area and the second free sub-area. The updated outer extent of the object comprises the first object sub-extent and the second object sub-extent. The updated unknown area is determined as an area other than the updated free area and the updated outer extent of the object. The processing unit is configured to generate an occupancy map comprising utilization of the updated free area, the updated outer extent of the object and the updated unknown area.