METHOD AND SYSTEM FOR PERCEIVING PHYSICAL BODIES

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 sensor; b) application of an inverse sensor model on an occupancy grid to determine a probability of occupancy of a set of ce...

Full description

Saved in:
Bibliographic Details
Main Authors PUSCHINI PASCUAL, Diego, RAKOTOVAO ANDRIAMAHEFA, Tiana, MOTTIN, Julien
Format Patent
LanguageEnglish
French
German
Published 01.08.2018
Subjects
CALCULATING
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
COMPUTING
COUNTING
HANDLING RECORD CARRIERS
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
Online AccessGet full text

Cover

More Information
Summary: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 sensor; b) application of an inverse sensor model on an occupancy grid to determine a probability of occupancy of a set of cells of the grid; and c) construction of a consolidated occupancy grid by fusion of the occupancy probabilities estimated during step b); wherein 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 c) is implemented by means of integer computations performed on the indices of the probability classes determined during said step b). A system for perceiving physical bodies is also provided.
Bibliography:Application Number: EP20160775572