Apparatus for generating surrounding map corresponding to surrounding object and method therefor

A method for generating a map around a moving object through multi-object recognition using a plurality of ultrasonic sensors, the method comprising:

• obtaining a map including sensor data of a first ultrasonic sensor from among the plurality of ultrasonic sensors and one or more fusion masks obtained from the plurality of ultrasonic sensors;
• obtaining, by a processor, a first mask using the sensor data of the first ultrasonic sensor;
• and
• correcting, by the processor, a fusion mask having a common region with the first mask from among the one or more fusion masks obtained from the plurality of ultrasonic sensors,
• wherein the map includes a first fusion mask obtained from the first ultrasonic sensor, and the first fusion mask is generated by fusing a measured mask obtained using the sensor data of the first ultrasonic sensor and a predicted mask obtained from the measured mask.

A moving object having mobility, the moving object comprising:

• an apparatus configured to generate a map around the moving object,
• wherein the apparatus includes:
• a sensor unit detecting an object around the moving object, wherein the sensor unit includes a plurality of ultrasonic sensors;
• and
• a processor operatively connected to the sensor unit and configured to generate a mask corresponding to the object around the moving object using data obtained by the sensor unit,
• wherein the processor is further configured to:
• periodically obtain a first mask using a respective one of the plurality of ultrasonic sensors,
• generate a fusion mask using a first mask obtained in the current cycle and a second mask predicted using a first mask obtained in a previous cycle, for the respective one of the plurality of ultrasonic sensors;
• and
• correct a fusion mask having a common region with the first mask obtained in the current cycle from among fusion masks for all of the plurality of ultrasonic sensors.