METHOD AND SYSTEM FOR PERCEIVING PHYSICAL BODIES

摘要

A method for perceiving physical bodies comprising the following steps: a) acquiring a plurality of measurements of the distance of said physical bodies, from one or more sensors (C1 … CNC); b) applying a sensor inverse model to an occupancy grid in order to determine a probability of occupation of a set of cells of said grid; and c) constructing a consolidated occupancy grid by merging the occupation probabilities estimated during step b); characterised in that each so-called sensor inverse model is a discrete model, associating, with each cell of the corresponding occupancy grid, and for each distance measurement, a class of probability chosen within a given set of finite cardinality and identified by an integer index; and in that said step c) is implemented by means of integer calculations carried out on the indices of the classes of probabilities determined during said step b). A system for perceiving physical bodies suitable for implementing such a method.