公开(公告)号：US20180173239A1

公开(公告)日：2018-06-21

申请号：US15817421

申请日：2017-11-20

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sung-Eui YOON ,  Youngsun KWON ,  Donghyuk KIM

IPC: G05D1/02 ,  G01S17/89 ,  B25J9/16

CPC classification number: G05D1/0214 ,  B25J9/1664 ,  G01S7/4808 ,  G01S17/89 ,  G05D1/0231 ,  Y10S901/46 ,  Y10S901/47

Abstract: Disclosed herein are a method and system for updating an occupancy map based on a super ray. The method of updating an occupancy map based on grids and octrees includes the step of generating a mapping line based on point clouds obtained from a sensor, generating a super ray by identifying a cell belonging to a plurality of cells forming the occupancy map and traversing an identical cell based on the generated mapping line, and updating the occupancy map by updating a cell through which the super ray corresponding to some of rays related to the plurality of cells forming the occupancy map passes.