US 12,019,147 B2
Apparatus and methods for multi-sensor SLAM systems
Siddharth K. Advani, Allen, TX (US); Neha Dawar, Plano, TX (US); Vitali Loseu, Aubrey, TX (US); Mandar Kulkarni, Richardson, TX (US); Yuming Zhu, Plano, TX (US); Chiyu Zhang, West Lafayette, IN (US); Songwei Li, McKinney, TX (US); and Jianzhong Zhang, Plano, TX (US)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Oct. 23, 2020, as Appl. No. 16/949,308.
Claims priority of provisional application 62/970,883, filed on Feb. 6, 2020.
Claims priority of provisional application 62/951,436, filed on Dec. 20, 2019.
Claims priority of provisional application 62/928,721, filed on Oct. 31, 2019.
Prior Publication US 2021/0132213 A1, May 6, 2021
Int. Cl. G01S 13/86 (2006.01); G01S 7/00 (2006.01); G01S 13/42 (2006.01); G01S 13/89 (2006.01); G01S 17/89 (2020.01)
CPC G01S 13/865 (2013.01) [G01S 7/003 (2013.01); G01S 13/42 (2013.01); G01S 13/89 (2013.01); G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An electronic device comprising:
a light detection and ranging (Lidar) sensor configured to perform Lidar scans;
a radar sensor configured to perform object detection; and
a processor operably connected to the Lidar sensor and the radar sensor, the processor configured to:
identify one or more objects from the Lidar scans,
transmit, via the radar sensor, radar signals for the object detection based on reflections of the radar signals received by the radar sensor,
while the electronic device travels an area, generate a first map indicating the one or more objects within the area based on the Lidar scans and a second map based on the radar signals,
in response to a determination that a portion of the first map is unoccupied, determine whether the second map indicates a missed object at the portion of the first map that is unoccupied, and
in response to a determination that the second map indicates the missed object, modify the first map with the missed object.