Method and apparatus with grid map generation

An apparatus with grid map generation, comprising:

• one or more processors configured to:
• generate position information of a moving object corresponding to a first time step based on a position sensor of the moving object;
• generate detection information of nearby objects present around the moving object corresponding to the first time step based on a radio detection and ranging (radar) sensor of the moving object;
• select a still object in a moving range of the moving object from among the nearby objects based on the position information and the detection information;
• generate an updated point cloud determined based on the radar sensor in a previous time step of the first time step, based on the position information and detection information of the still object comprised in the detection information of the nearby objects, wherein the detection information includes relative position information of the still object with respect to the position of the moving object;
• and
• generating a grid map based on an occupancy probability for each grid of the updated point cloud,
• wherein the generating of the updated point cloud comprises:
• transform coordinates of a first point cloud determined in the previous time step based on the position information;
• generate a second point cloud corresponding to the still object, based on detection information of the still object determined in the first time step;
• and
• generate the updated point cloud corresponding to the first time step based on the transformed first point cloud and the second point cloud,
• wherein the detection information comprises relative position information of the nearby objects with respect to a position of the radar sensor, and
• wherein for the generating of the updated point cloud, the one or more processors are configured to transform relative position information of the still object comprised in the detection information with respect to a position of the moving object, based on a relative position relationship of the radar sensor and the moving object.

A method with grid map generation, comprising:

• generating a first point cloud of a stationary object using a radio detection and ranging (radar) sensor at a first position;
• transforming coordinates of the first point cloud based on a second position of the radar sensor;
• generating a second point cloud of the stationary object using the radar sensor at the second position,
• generating an updated point cloud of the stationary object based on the second point cloud and the transformed first point cloud;
• and
• generating a grid map based on an occupancy probability for each grid of the updated point cloud,
• wherein the generating of the updated point cloud comprises:
• transforming the coordinates of the first point cloud generated in the first position, based on the stationary object;
• generating the second point cloud corresponding to the stationary object, based on detection information of the stationary object generated in the second position,
• wherein the detection information includes relative position information of the stationary object with respect to the second position of the radar sensor;
• and
• generating the updated point cloud corresponding to the second position based on the transformed first point cloud and the second point cloud,
• wherein the generating of the first point cloud comprises generating the first point cloud in response to determining that a difference between an absolute value of a relative velocity of the stationary object and an absolute value of the velocity of the radar sensor is less than or equal to a preset threshold value.