Inria Institut National De Recherche En Informatique Et En Automatique

Centre National De La Recherche Scientifique

Commissariat a L'energie Atomique Et Aux Energies Alternatives

Commissariat À L'énergie Atomique Et Aux Énergies Alternatives

Lukas Rummelhard

Christian Laugier

Amaury Negre

Mathias Perrollaz

A computerized device for driving assistance comprises a memory () designed to receive data point cloud data () in which a point cloud associates, for a given instant, points each having coordinates in a plane associated with the point cloud and a value denoting a height. The device furthermore comprises a calculator () designed to access the memory () and, for a given point cloud, to calculate data on the probability of belonging to a reference surface, associated with each point of the data point cloud, on the one hand, and node data associating a value denoting a height (hi) and two values indicating a slope in a plane associated with the plane of the given point cloud, on the other hand, by determining a Gaussian random conditional field by way of the data point cloud data () corresponding to the given point cloud, which Gaussian random conditional field is represented by a mesh of nodes in said associated plane, which nodes are defined by the node data, and to return the data on the probability of belonging to a reference surface and/or at least some of the node data and values denoting a height.

Computerized device for driving assistance

A method for analyzing 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)=&#x3a3;A0P(CA00VVZ)/&#x3a3;A00VVP(CA00VVZ) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k&#x2212;1)iteration and the probability P(V|V&#x2212;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(0=empty, V=0|ZC) and P(0=occupied, V=0|ZC) and the solving of a dynamic part corresponding to P(0=occ, V=v,|ZC), i=32 1 to n, in which nis the number of particles determined in cell C for the kiteration.

Dynamic scene analysis method, and associated analysis module and computer programme

Growing community of inventors

Grenoble, France

Lukas Rummelhard