Obstacle map generating method and apparatus
AssigneeHanwha Defense Co., Ltd.
InventorMin Hyeok KWON
Life of this patent
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Abstract
A method for generating an obstacle map is provided. The method includes: receiving an environment map; generating a binary map indicating a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map; and generating an obstacle map by applying an obstacle expansion model to the binary map, wherein the applying the obstacle expansion model comprises setting a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map to a plurality of values, respectively. Accordingly, a safer and stable route can be generated to avoid the obstacle.
Claims20
A method for generating an obstacle map, the method comprising:
- receiving an environment map;
- generating a binary map indicating a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map;
- and
- generating an obstacle map by applying an obstacle expansion model to the binary map, wherein the applying the obstacle expansion model comprises setting a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map to a plurality of values, respectively.
A method of generating an obstacle map, the method comprising:
- receiving an environment map;
- generating a binary map comprising a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map;
- and
- generating an obstacle map by setting a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map to a plurality of values, respectively, which change from a predetermined value set to the obstacle cost of the position of the obstacle according to a distance from the position of the obstacle.
An obstacle map generating apparatus comprising:
- a receiver configured to receive an environment map;
- a memory configured to store an obstacle map generating program which generates an obstacle map from the environment map;
- and
- at least one processor configured to execute the obstacle map generating program,
- wherein the obstacle map generating program is configured to generate a binary map indicating a position of an obstacle by a value of an obstacle cost corresponding to a probability of presence of the obstacle at the position, based on obstacle information obtained from the environment map, and generate an obstacle map by applying an obstacle expansion model to the binary map, and
- wherein the obstacle expansion model is applied such that a plurality of obstacle costs of a plurality of neighboring positions of the position of the obstacle in the binary map are set to a plurality of values, respectively.
Dependencies are inferred from the claim text.