公开(公告)号：US20220024034A1

公开(公告)日：2022-01-27

申请号：US17131194

申请日：2020-12-22

Applicant: Samsung Electronics Co., Ltd.

Inventor： Minghan Wei ,  DaeWon Lee ,  Ibrahim Volkan Isler ,  Daniel Dongyuel Lee

IPC: B25J9/16 ,  G06T17/00 ,  G06N3/04 ,  G06N3/08 ,  G06K9/32 ,  G06F17/18

Abstract: A method of predicting occupancy of unseen areas in a region of interest (ROI) includes obtaining a depth image of the ROI, the depth image being captured from a first height; generating an occupancy map based on the obtained depth image, the occupancy map comprising an array of cells corresponding to locations in the ROI; and generating an inpainted map by inputting the occupancy map into a trained inpainting network, the inpainted map comprising an array of cells corresponding to the ROI, and wherein the inpainting network is trained by comparing an output of the inpainting network, based on inputting a training depth image taken from the first height, to a ground truth map, the ground truth map being based on a combination of the training depth image and a depth image taken at a height different than the first height.