公开(公告)号：EP4170388A1

公开(公告)日：2023-04-26

申请号：EP22202814.4

申请日：2022-10-20

Applicant: Coretronic Intelligent Robotics Corporation

Inventor： CHEN, YEN-YI ,  HSIAO, PEI-CHI ,  CHEN, CHIH-CHIEN ,  CHIANG, HUANG-CHENG

IPC: G01S17/89 ,  G01S7/48 ,  G01S17/50 ,  G01C21/00

Abstract: A method and a system for spatial static map construction are provided. In the method, a three-dimensional space is scanned by using a LiDAR sensor to generate a LiDAR frame including multiple points in the three-dimensional space in a time sequence. As for each point in the LiDAR frame, a corresponding point closest to the point is found from a static map built according to the three-dimensional space, and a distance from the corresponding point is calculated. The point is labelled as a dynamic point if the distance is greater than a threshold, and otherwise labelled as a static point. Each labelled dynamic point is compared with points in N LiDAR frames generated before the time sequence, and corrected as a static point if included in the N LiDAR frames. The dynamic points in the LiDAR frame are removed, and each static point is updated to the static map.