公开(公告)号：US20180231650A1

公开(公告)日：2018-08-16

申请号：US15892316

申请日：2018-02-08

申请人： Commissariat A L'energie Atomique et Aux Energies Alternatives.

发明人： Frédéric HEITZMANN

IPC分类号： G01S13/04 ,  G01S13/86 ,  G01S13/93 ,  G06F17/18

CPC分类号： G01S13/04 ,  G01S13/86 ,  G01S13/931 ,  G01S2013/9364 ,  G01S2013/9367 ,  G06F17/18 ,  G06K9/00671 ,  G06K9/00805

摘要： A method for perceiving physical bodies comprises the following steps: a) acquisition of a plurality of distance measurements of the physical bodies arising from one or more sensors; b) acquisition or computation of a value of a priori probability of occupancy of the cells of an occupancy grid; and c) application of an inverse sensor model on the occupancy grid to determine a probability of occupancy of a set of cells of the grid; d) construction of a consolidated occupancy grid by fusing the occupancy probabilities estimated during step c); wherein each the inverse sensor model is a discrete model, associating with each cell of the corresponding occupancy grid, and for each distance measurement, a probability class chosen inside one and the same set of finite cardinality and identified by an integer index; and wherein step d) is implemented by means of integer computations performed on the indices of the probability classes determined during step c), and as a function of the value of a priori occupancy probability. A system for perceiving physical bodies, adapted to implement the method is provided.

公开(公告)号：US20200018825A1

公开(公告)日：2020-01-16

申请号：US16505535

申请日：2019-07-08

申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

发明人： Roxana DIA ,  Frédéric HEITZMANN ,  Suzanne LESECQ ,  Julien MOTTIN ,  Diego PUSCHINI PASCUAL ,  Tiana RAKOTOVAO ANDRIAMAHEFA

IPC分类号： G01S7/48 ,  G01S17/42 ,  G01S17/93

摘要： An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided.