公开(公告)号：EP3384358A1

公开(公告)日：2018-10-10

申请号：EP16802198.8

申请日：2016-11-10

Applicant: Qualcomm Incorporated

Inventor： AGHAMOHAMMADI, Aliakbar ,  AGARWAL, Saurav ,  OMIDSHAFIEI, Shayegan ,  SOMASUNDARAM, Kiran ,  LOTT, Christopher ,  BEHABADI, Bardia Fallah ,  GIBSON, Sarah Paige ,  WIERZYNSKI, Casimir Matthew ,  REITMAYR, Gerhard ,  DIAZ SPINDOLA, Serafin

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0251 ,  G06K9/00664 ,  G06K9/6277 ,  G06T7/00 ,  G06T7/277 ,  G06T2207/10021 ,  G06T2207/20076 ,  G06T2207/30241

Abstract: A method for defining a sensor model includes determining a probability of obtaining a measurement from multiple potential causes in a field of view of a sensor modeled based on a stochastic map. The stochastic map includes a mean occupancy level for each voxel in the stochastic map and a variance of the mean occupancy level for each pixel. The method also includes determining a probability of obtaining an image based on the determined probability of obtaining the measurement. The method further includes planning an action for a robot, comprising the sensor, based on the probability of obtaining the image.