US Patent 11465633 Method and system for generating predicted occupancy grid maps

Methods and systems for generating a predicted occupancy grid map (OGM) over at least one future time step are described. The system include a first encoder for extracting OGM features from an input OGM in a current time step. The system also includes a recurrent neural network for generating a corrective term from at least the OGM features, wherein the corrective term represents predicted change to the input OGM, and wherein the corrective term is applied to the input OGM to generate a corrected OGM. The corrected OGM represents features corresponding to occupancy of the environment in a first future time step. The system also includes a classifier for converting the corrected OGM to the predicted OGM for the first future time step. The predicted OGM is fed back as input for performing generating a predicted OGM for a second future time step.