Generalized inverse 3D sensor model

摘要

Vehicle, navigation system of the vehicle and method for observing an environment of the vehicle. The navigation system includes a sensor and a processor. The sensor receives recognition of an object located in an environment of the vehicle in a co-detection direction with respect to the sensor including the detection. The processor determines a non-recognition direction that does not include the recognition, assigns an empty space probability to an occupancy grid of the sensor along the non-recognition direction, and generates a map of the environment from the allocation grid.