Dynamic Occupancy Grid Computation via Sectorized Priority Updates

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Solution Overview

Problem

Current occupancy grid computation methods are computationally costly and time-consuming, especially when each cell in the measurement grid is individually computed without considering activity levels.

Innovation Solution

The proposed method prioritizes updating occupancy parameters of identified occupied and unoccupied grid cells over other cells, using sectorized areas where sensor measurements are relevant to update the dynamic occupancy grid efficiently.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If each cell in the measurement grid is individually computed without considering activity levels, then measurement precision is improved, but processing time and computational cost increase

Engineering Contradiction:

Improveoccupancy grid computation accuracyVSAvoidprocessing time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The measurement grid is divided into multiple sectors, and only sectors containing objects (high-activity sectors) are processed in detail. This segmentation allows the system to maintain measurement precision for relevant areas while skipping computation in empty areas, thereby reducing overall processing time without sacrificing accuracy where it matters.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of computing all grid cells uniformly, the system performs partial computation only on cells within high-activity sectors. This partial action approach maintains necessary measurement precision for occupied regions while avoiding unnecessary computations in empty regions, effectively reducing processing time without compromising essential accuracy.

Inventive Principle:

Principle #16Partial or excessive action

2Manufacturing precision

If each cell in the measurement grid is individually computed without considering activity levels, then manufacturing precision is improved, but productivity decreases

Engineering Contradiction:

Improveoccupancy grid computation accuracyVSAvoidcomputation throughput

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The grid computation task is segmented by sector, with full precision applied only to high-activity sectors containing objects. Low-activity sectors are either skipped or processed with reduced precision, thereby maintaining manufacturing precision where needed while significantly improving overall computation throughput by avoiding unnecessary processing elsewhere.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Different computation quality levels are applied to different regions of the grid based on local activity characteristics. High-activity sectors receive full precision computation to maintain accuracy, while low-activity sectors receive minimal or no computation. This local differentiation preserves necessary precision in critical areas while boosting overall productivity.

Inventive Principle:

Principle #3Local quality

3Reliability

If all occupancy grid cells are updated uniformly, then reliability is improved, but use of energy increases

Engineering Contradiction:

Improveoccupancy grid accuracyVSAvoidprocessing energy

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The uniform update process is segmented into selective updates based on sector activity. Only sectors containing objects are updated with full precision, while empty sectors are either skipped or updated with minimal processing. This maintains reliability for detecting and tracking objects while reducing the energy consumed by the update process.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of uniformly updating all grid cells, the system performs partial updates only where necessary (in high-activity sectors). This partial action approach maintains sufficient reliability for safety-critical object detection while reducing overall energy consumption by avoiding unnecessary updates in empty regions.

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS20250189664A1Measurement grid efficiency for dynamic occupancy grid computation

Publication Date: 2025.06.12 QUALCOMM INC

AI summary

An occupancy grid updating method includes: obtaining, at an apparatus from at least one sensor, a plurality of measurements of a plurality of objects; identifying, at the apparatus and based on the plurality of measurements, first occupancy grid cells having occupancy mass corresponding to the plurality of objects; identifying, at the apparatus and based on the plurality of measurements, second occupancy grid cells that are unoccupied; and updating, at the apparatus, an occupancy grid containing the first occupancy grid cells, the second occupancy grid cells, and third occupancy grid cells, by prioritizing updating occupancy parameters of the first occupancy grid cells and the second occupancy grid cells over updating occupancy parameters of the third occupancy grid cells.