Method and system for generating predicted occupancy grid maps

A technology that occupies grids and maps, applied in the direction of kernel methods, neural learning methods, control/regulation systems, etc., can solve problems such as blocking free space
CN113348422AActive Publication Date: 2021-09-03HUAWEI TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Ā· China
Patent Type
Applications(China)
Current Assignee / Owner
HUAWEI TECH CO LTD
Publication Date
2021-09-03

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Abstract

Methods and systems for generating a predicted occupancy grid map (OGM) over at least one future time step are described. The system include a first encoder for extracting OGM features from an input OGM in a current time step. The system also includes a recurrent neural network for generating a corrective term from at least the OGM features, wherein the corrective term represents predicted change to the input OGM, and the corrective term is applied to the input OGM to generate a corrected OGM. The corrected OGM represents features corresponding to occupancy of the environment in a first future time step. The system also includes a classifier for converting the corrected OGM to the predicted OGM for the first future time step. The predicted OGM is fed back as input for performing generating a predicted OGM for a second future time step.
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Description

[0001] Related Applications Cross Application

[0002] This application claims U.S. Provisional Patent Application No. 62 / 767,309, filed November 14, 2018, entitled "Method and System for Generating Predictive Occupancy Grid Maps," and filed July 11, 2019 Priority priority to US Provisional Patent Application No. 16 / 509,045, entitled "Method and System for Generating Predicted Occupancy Grid Maps," the contents of which are incorporated herein by reference. technical field

[0003] The present application relates to methods and systems for providing predictions for generating predicted occupancy grid maps representing dynamic unstructured environments. Background technique

[0004] An autonomous device (eg, an autonomous vehicle) may sense its surroundings using different sensors (eg, sonar rangefinder, radar, lidar, and / or cameras, etc.). Information collected from sensors is used for path planning and navigation of autonomous devices. In order to efficiently plan paths a...

Claims

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