US 12,189,398 B2
Circuitry and method
Timo Grebner, Ulm (DE); Christian Waldschmidt, Ulm (DE); and Daniel Felipe Ardila Palomino, Stuttgart (DE)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Filed by Sony Group Corporation, Tokyo (JP)
Filed on Feb. 9, 2022, as Appl. No. 17/667,540.
Claims priority of application No. 21157448 (EP), filed on Feb. 16, 2021.
Prior Publication US 2022/0261008 A1, Aug. 18, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0257 (2013.01); G05D 1/0278 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A circuitry for simultaneous localization and mapping for a mobile platform, the circuitry being configured to:
estimate, based on obtained radar detection data, an ego-motion of the mobile platform,
update, based on the estimated ego-motion and the obtained radar detection data, a set of particles, wherein each particle of the set of particles includes a location and an orientation of the mobile platform and an occupancy grid map that represents an environment of the mobile platform, wherein the occupancy grid map includes a plurality of cells and each cell of the plurality of cells is assigned an occupation probability which indicates a probability that the cell is occupied by a target, and
estimate, based on the obtained radar detection data, a location of the target, wherein the occupation probability is updated based on the estimated location of the target,
wherein the occupation probability is updated further based on a detection probability of the target, wherein the detection probability is based on a first probability distribution of a distance of the target to the mobile platform, a second probability distribution for a detection angle of the target to a radar sensor on the mobile platform, and a third probability distribution for a detection noise level of the target.