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    • 3. 发明公开
    • MULTIDIMENSIONAL EVIDENCE GRIDS AND SYSTEM AND METHODS FOR APPLYING SAME
    • EP3451296A1
    • 2019-03-06
    • EP18194720.1
    • 2006-02-08
    • Seegrid Corporation
    • MORAVEC, Hans
    • G06T17/00G05D1/02
    • According to an aspect, a method of auto-navigating a robotic vehicle through an environment is provided. The robotic vehicle may comprise at least one stereo camera having two cameras. The method may comprise building and/or updating a three-dimensional evidence grid of the environment, the evidence grid comprising a three-dimensional pattern of voxels representing points in space containing occupancy information. The building/updating may include navigating the robotic vehicle through the environment to collect a plurality of stereo images comprising stereo image data using the at least one stereo camera. The building/updating may further include applying a sensor model to the stereo image data to remove noise introduced by the at least one stereo camera. The building/updating may further include processing the stereo image data to determine the presence of objects, parts of objects or features within the field of view of the at least one stereo camera, including analyzing pixels of the stereo image data and determining probabilities of occupancy of the points in space within the field of view of the at least one stereo cameras as voxel volumes associated with the voxels representing the points in space. The method may further include building and/or updating the evidence grid based on the voxel volumes, discarding the stereo images, and auto-navigating the robotic vehicle through the environment using the built and/or updated evidence grid.