Method for creating occupancy grid map and processing apparatus
AssigneeBeijing Tusen Zhitu Technology Co., Ltd.
InventorsXuan Lin, Naiyan Wang
Life of this patent
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Abstract
The present disclosure provides a method and an apparatus for creating an occupancy grid map, as well as a processing apparatus. The method includes: creating a current occupancy grid map based on a location of the vehicle and a previous occupancy grid map; and determining a current probability that each grid in the current occupancy grid map belongs to each of occupancy categories based on last environment perception information received from the sensors and updating an occupancy category to which each grid in the current occupancy grid map belongs based on the current probability that the grid belongs to each of the occupancy categories, in accordance with an asynchronous updating policy.
Claims20
A method for creating an occupancy grid map, with at least two sensors provided on a vehicle, at least one of the sensors being a vehicle mounted camera configured to capture an image as a first part of environment perception information, the method comprising:
- creating a current occupancy grid map based on a location of the vehicle and a previous occupancy grid map;
- determining a current probability that each grid in the current occupancy grid map belongs to each of occupancy categories based on last received first part of the environment perception information, the determining comprising:
- for each grid:
- determining the current probability that the grid belongs to each of the occupancy categories based on semantic information of a pixel corresponding to the grid, wherein the pixel is obtained from a last image received from the vehicle mounted camera;
- and
- updating an occupancy category to which each grid in the current occupancy grid map belongs based on the current probability that the grid belongs to each of the occupancy categories, in accordance with an asynchronous updating policy.
An apparatus, comprising a memory and one or more processors communicatively connected to the memory, the memory storing instructions executable by the one or more processors, the instructions, when executed by the one or more processors, causing the one or more processors to perform a method for creating an occupancy grid map, with at least two sensors provided on a vehicle, at least one of the sensors being a vehicle mounted camera configured to capture an image as environment perception information, the method comprising:
- creating a current occupancy grid map based on a location of the vehicle and a previous occupancy grid map;
- determining a current probability that each grid in the current occupancy grid map belongs to each of occupancy categories based on last received environment perception information, comprising:
- for each grid:
- determining the current probability that the grid belongs to each of the occupancy categories based on semantic information of a pixel corresponding to the grid, wherein the pixel is obtained from a last image received from the vehicle mounted camera;
- and
- updating an occupancy category to which each grid in the current occupancy grid map belongs based on the current probability that the grid belongs to each of the occupancy categories, in accordance with an asynchronous updating policy.
A non-transitory computer readable storage medium, storing at least one machine executable instruction which, when executed by a processor, causes the processor to perform a method for creating an occupancy grid map, with at least two sensors provided on a vehicle, at least one of the sensors being a vehicle mounted camera configured to capture an image as environment perception information, the method comprising:
- creating a current occupancy grid map based on a location of the vehicle and a previous occupancy grid map;
- determining a current probability that each grid in the current occupancy grid map belongs to each of occupancy categories based on last received environment perception information, comprising:
- for each grid:
- determining the current probability that the grid belongs to each of the occupancy categories based on semantic information of a pixel corresponding to the grid, wherein the pixel is obtained from a last image received from the vehicle mounted camera;
- and
- updating an occupancy category to which each grid in the current occupancy grid map belongs based on the current probability that the grid belongs to each of the occupancy categories, in accordance with an asynchronous updating policy.
Dependencies are inferred from the claim text.