Patent ID: 8903589

Claim:
A system for identifying and marking dynamic areas of a map of a physical environment of a mobile device, the system comprising: a. a data acquisition system that generates data identifying the mobile device's physical environment; and b. a processing apparatus, responsive to the data acquisition system, to map or model the mobile device's physical environment and the data acquisition system's location within the mobile device's physical environment in a cell-based grid in which cells are assigned probabilities indicating certainty about whether the physical space corresponding to a cell is occupied by an object or contains empty space; c. wherein the processing apparatus includes apparatus that: i. assigns and updates probabilities to each cell within the grid map from the data generated by the data acquisition system; ii. determines if changes in a cell's probability of occupancy indicate that a cell currently identified as empty has become occupied or a cell currently identified as occupied has become empty; iii. marks each cell so as not to be updated with regard to its probability of occupancy while said probability is changing; and d. wherein the processing apparatus further includes apparatus that monitors sudden changes in consecutive cells to determine whether a tilt event has occurred.