METHOD FOR BUILDING MAP OF MOBILE PLATFORM IN DYNAMIC ENVIRONMENT

摘要

PURPOSE: A method for building a map of a mobile platform in a dynamic environment is provided to separate moving object and fixed object and perform mapping of the objects thereby making exact map information in the dynamic environment. CONSTITUTION: An image acquisition unit obtains disparity map(100), and an image processing unit extracts specific points of movement route of a mobile platform(104). A control unit traces the feature points with JPDAF(Joint Probability Data Association Filter)(106). If the feature points are not included in static cluster, the control unit registers the feature point in dynamic map(110,120). The control unit predicts route of dynamic cluster(124). The control unit generates route which is able to avoid dynamic object(126).