Environment sensing method and apparatus using a wide-angle distance sensor
US11327157B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 8, 2019 |
| Grant date | May 10, 2022 |
| Priority date | — |
| Expiry date | Apr 22, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/08
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.