公开(公告)号：US10290116B2

公开(公告)日：2019-05-14

申请号：US15316779

申请日：2015-06-02

申请人： INRIA INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE ,  CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (CNRS) ,  COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

发明人： Christian Laugier ,  Amaury Negre ,  Mathias Perrollaz ,  Lukas Rummelhard

IPC分类号： G06K9/00 ,  B60T7/22 ,  G06N7/00 ,  G06T7/20 ,  G06T7/70 ,  G08G1/04 ,  B60W40/04 ,  G01S17/87 ,  G06F17/18 ,  G01S17/93 ,  G08G1/16 ,  G06T7/277 ,  B60W40/12

摘要： A method for analyzing a dynamic scene partitioned into cells which involves determining a probability of occupancy of a cell and a probability or probabilities of movement of the cell by solving the equation P(OV|ZC)=ΣA0−1V-1P(CA00−1VV−1Z)/ΣA00−1VV−1P(CA00−VV−1Z) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k−1)th iteration and the probability P(V|V−1); the determination of the particles located in each cell depending on the determined positions, and the solving of the equation, for a cell, is split into the solving of a static part corresponding to P(0=empty, V=0|ZC) and P(0=occupied, V=0|ZC) and the solving of a dynamic part corresponding to P(0=occ, V=vki,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.