Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Alex Pereira Da Silva

Sylvain Leirens

Suzanne Lesecq

Diego Puschini Pascual

A method is provided for collaboratively detecting tangible bodies in an environment employing a plurality of distance sensors with which respective carriers are equipped, including: for each sensor, acquiring a series of measurements of distance of a closest tangible body along a line of sight; applying an inverse model of the sensor on a local occupancy grid; and constructing a consolidated local occupancy grid via Bayesian fusion of the occupancy probabilities thus determined; and, computing occupancy probabilities of the cells of a global occupancy grid via Bayesian fusion of the occupancy probabilities of corresponding cells of at least certain of said consolidated local occupancy grids. A system for implementing such a method is also provided.

Method and system for collaboratively detecting tangible bodies in an environment

A method for detecting an obstacle includes the steps of: calculating, for each point of a space around a telemeter, a plurality of corresponding intermediate probabilities of presence, each intermediate probability of presence being associated with a respective orientation of the telemeter among a plurality of predetermined orientations around a current orientation of the telemeter, each orientation being certain; for each point of space, calculating a probability of the presence of an obstacle from each corresponding intermediate probability of presence and from an uncertainty model on the orientation of the telemeter; and generating an alert if the probability of the presence of an obstacle in a predetermined zone with respect to the telemeter is greater than or equal to a predetermined alert threshold.

Method for detecting an obstacle, detection device, detection system and associated vehicle

A method of localising an access point (B, B, B) to a communication network; The method comprises the following steps: reconstruction of a trajectory (P, P, P, P) followed by a mobile device during a displacement during which it makes measurements of an indicator related to the distance separating it from the access point; determination of a localisation (T, T, T) at which each of the measurements on the trajectory is made; calculation for each measurement of a difference between the distance separating a possible localisation of the access point from the location at which the measurement is made and a distance estimated from the measurement and a propagation model relating the indicator and the distance, and calculation of a localisation error from the calculated differences. The propagation model is updated at each evaluation of a possible localisation of the access point.

Method of locating an access point to a communication network

In a method for locating mobile devices, a trajectory (T, T) is reconstructed modelling a movement made by each mobile device during which the mobile device carries out measurements of an indicator linked to the distance separating it from access terminals (B-B) to a communication network. From these measurements, the locations of the terminals are calculated in a frame of reference linked to each mobile device. A procrustean analysis is then performed to determine, for each mobile device, a geometric transformation that transforms the locations of the terminals in the frame of reference linked to the mobile device into locations transformed in a common frame of reference. From this determination, the location of each terminal transformed in the common frame of reference is superimposed with a location of the terminal in the common frame of reference. Finally, the corresponding geometric transformation is applied to the trajectory of each mobile device.

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Saint Martin d'Heres, France

Alex Pereira Da Silva