Ogm compression circuit, ogm compression/decompression system, and mobile system
AssigneesKabushiki Kaisha Toshiba, Toshiba Electronic Devices & Storage Corporation
InventorMasato UCHIYAMA
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Abstract
According to an embodiment, an acquisition circuit, a modification circuit, and a compressor are included. The modification circuit executes a modification process of modifying first consecutive grids, the number of which is smaller than a preset threshold value in a preset linear scanning direction, among first grids indicating that the obstacle is absent to the second grids. The compressor continuously scans the OGM undergoing the modification process in the scanning direction and encodes the grids in a scanning order.
Claims21
An occupancy grid map (OGM) compression circuit comprising:
- an acquisition circuit that acquires an OGM containing grids binarized into first and second grids according to presence or absence of an obstacle;
- a modification circuit that executes a modification process of modifying first consecutive grids, the number of which is smaller than a preset threshold value in a preset linear scanning direction, among first grids indicating that the obstacle is absent to the second grids;
- and
- a compressor that continuously scans the OGM undergoing the modification process in the scanning direction and encodes the grids in a scanning order.
An OGM compression circuit comprising:
- a generation circuit that generates an occupancy grid map (OGM) containing grids binarized into first and second grids according to presence or absence of an obstacle, first consecutive grids, the number of which is smaller than a preset threshold value in a preset linear scanning direction, among first grids indicating that the obstacle is absent being changed to the second grids;
- and
- a compressor that continuously scans the generated OGM in the scanning direction and encodes the grids in a scanning order.
Dependencies are inferred from the claim text.