The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 26, 2019
Filed:
Mar. 13, 2017
Denso IT Laboratory, Inc., Shibuya-ku, Tokyo, JP;
Jingo Adachi, Tokyo, JP;
Chiharu Yamano, Tokyo, JP;
DENSO IT LABORATORY, INC., Tokyo, JP;
Abstract
A technique of estimating a surrounding environment with higher accuracy from observation data obtained by using sensing equipment is disclosed. According to the technique, a certain pixel in an observation data space which includes the observation data obtained by a sensoris sampled. With regard to the sampled pixel, a grid-unspecified logarithm-likelihood ratio indicating whether a received signal is a signal reflected from a detected object is calculated from an intensity value of the received signal, and a distribution function of an angle indicating the degree of dispersion centering on an azimuth angle is calculated. Then, the product of the grid-unspecified logarithm-likelihood ratio and the distribution function is calculated and thereby a calculation for updating an occupation probability of the object is performed across a plurality of grids in an occupancy grid map by using a value obtained by dispersing the likelihood using the distribution function.