Method and system for contextualized perception of physical bodies
US11105911B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Feb 8, 2018 |
| Grant date | Aug 31, 2021 |
| Priority date | — |
| Expiry date | May 28, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/9324
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.