ITERATIVE METHOD FOR ESTIMATING THE MOVEMENT OF A MATERIAL BODY BY GENERATING A FILTERED MOVEMENT GRID

• Main Author: RAKOTOVAO ANDRIAMAHEFA, Tiana
• Format: Patent
• Language: English
• Published: 16.06.2022
• Subjects: CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; HANDLING RECORD CARRIERS; PERFORMING OPERATIONS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

An iterative method for estimating the movement of at least one material body in a surrounding space discretized into a grid of cells, includes the following steps: a) obtaining an inconsistency grid in iteration t (IGt), generated in response to detection of a change of occupancy state in at least one of the cells of the grid of cells between an iteration t-1 and iteration t, b) recurrently generating a filtered movement grid in iteration t (FMGtd, FMGts) comprising, for each cell of the inconsistency grid in iteration t (IGt), a posterior probability (P(dt,iA|z1:t), of the material body having performed a movement with at least one movement component characterizing the movement, the movement component forming part of a discrete set of components around the cell, the filtered movement grid in iteration t (FMtd, FMGts) being generated on the basis of the filtered movement grid in iteration t-1 (FMGt-1d, FMGt-1s), of an inconsistency grid from iteration t-1 (IGt-1), and of the inconsistency grid in iteration t(IGt).