| 摘要 |
A method for estimating a target object (TO) properties (SP), including location, in an environment. A topology model (TM) indicates permissible locations and transitions and a data model (DAM) models a location-dependent physical quantity (PQ) which is observed by the target object's sensing device. Motion models (MM) model specific target object types, obeying the permissible locations and transitions. The target object is assigned a set of particles (P; 112, 122, ...), each having a set of attributes (AS), including location in relation to the topology model. The attributes estimate the target object properties (SP; 111, 121, ...) The particles' update cycles comprise: determining a degree of belief (113, 123, ...) for each particle to estimate the target object properties (SP); determining a weight (115, 125, ...) for each particle based on at least the determined degree of belief and generating new particles for update cycle n+1 in an evolutionary process.
|
