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    METHOD AND SYSTEM FOR CONTEXTUALIZED PERCEPTION OF PHYSICAL BODIES
    9.
    发明申请
    METHOD AND SYSTEM FOR CONTEXTUALIZED PERCEPTION OF PHYSICAL BODIES 审中-公开

    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.

    OBJECTIVE SENSOR, OBJECTIVE SENSOR DIRT DETERMINATION METHOD, AND OBJECT DETECTION DEVICE
    10.
    发明申请
    OBJECTIVE SENSOR, OBJECTIVE SENSOR DIRT DETERMINATION METHOD, AND OBJECT DETECTION DEVICE 审中-公开

    公开(公告)号：US20180188362A1

    公开(公告)日：2018-07-05

    申请号：US15739423

    申请日：2016-06-07

    申请人： Konica Minolta, Inc.

    发明人： Junichi FUJITA

    IPC分类号： G01S7/497 ,  G01S17/93 ,  G01S17/42

    CPC分类号： G01S7/497 ,  G01S17/42 ,  G01S17/46 ,  G01S17/936 ,  G01S2007/4975 ,  G01S2013/9364 ,  G01S2013/9367

    摘要： An objective sensor, a dirt determination method thereof, and an object detection device according to the present invention, individually transmit transmission waves in a plurality of mutually different directions and receive the respective reflected wave thereof, through a protective member, so as to measure, with the plurality of directions as a plurality of measurement points, a transmission and reception time and the intensity of the reflected wave for each of the plurality of measurement points. Then, the objective sensor, the dirt determination method thereof, and the object detection device extract, as dirt candidate points, the measurement points each having the transmission and reception time shorter than a first threshold time and the intensity equivalent to or more than threshold intensity, regard the dirt candidate points that have been extracted, as the dirt points in a case where the dirt candidate points continue for a second threshold time or more, and acquire the dirt point distributions on the basis of the dirt points. Then, the presence or absence of dirt on the protective member is determined, on the basis of the dirt point distributions that have been acquired.