DYNAMIC SCENE ANALYSIS METHOD, AND ASSOCIATED ANALYSIS MODULE AND COMPUTER PROGRAMME
First Claim
1. A method for analyzing a dynamic scene observed with the aid of one or more sensors, the method comprising:
- defining a grid that is partitioned into cells and corresponding to the observed scene;
collecting at least one new observation of the one or more sensors at the kth iterations;
determining, as a function of the new collected observation, a first probability of occupancy of each cell of the grid modeling the operation of the one or more sensors ;
determining, for each cell, at the kth iteration, a second probability of occupancy of the cell and a set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration, wherein the second probability of occupancy of the cell and of the set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration is determined based on;
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Accused Products
Abstract
A method for analysing 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)=ΣAO−1 V-1P(CAOO−1VV−1Z)/ΣAOO−1VV−1P(CAOO−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(VFV-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(O=empty, V=O|ZC) and P(O=occupied, V=O|ZC) and the solving of a dynamic part corresponding to P(O=occ, V=vkl,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.
16 Citations
12 Claims
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1. A method for analyzing a dynamic scene observed with the aid of one or more sensors, the method comprising:
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defining a grid that is partitioned into cells and corresponding to the observed scene; collecting at least one new observation of the one or more sensors at the kth iterations; determining, as a function of the new collected observation, a first probability of occupancy of each cell of the grid modeling the operation of the one or more sensors ; determining, for each cell, at the kth iteration, a second probability of occupancy of the cell and a set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration, wherein the second probability of occupancy of the cell and of the set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration is determined based on; - View Dependent Claims (2, 3, 4, 5, 12)
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6. (canceled)
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7. A device effective to analyze a dynamic scene observed with the aid of one or more sensors, the device is configured to:
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define a grid partitioned into cells and corresponding to the observed scene; collect at least one new observation of the one or more sensors at a kth iteration and determining, as a function of the new collected observation, a first probability of occupancy of each cell of the grid and that models the operation of the one or more sensors; determine, for each cell, at the kth iteration, a second probability of occupancy of the cell and a set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration, wherein the device is adapted to determine said second probability of occupancy of the cell and the set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration based on; - View Dependent Claims (8, 9, 10, 11)
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Specification