Commissariat a L'energie Atomique Et Aux Energies Alternatives

Roxana Dia

Suzanne Lesecq

Diego Puschini Pascual

Tiana Rakotovao Andriamahefa

Julien Mottin

Frédéric Heitzmann

Nicolas Mareau

Tiana Rakotovao Andriamehefa

A method of localizing a mobile body (MB) in a known environment, includes the following steps: a) defining an occupancy grid (G) modeling the environment; b) defining a set of position grids (&#x3a0;) each position grid being associated to a heading of the mobile body; c) receiving a time series of measurements (z, z, . . . ) from a distance sensor carried by the mobile body; and d) upon receiving a measurement of the time series, updating the pose probabilities of the position grids as a function of present values of the occupancy probabilities and of the received measurement; wherein step d) is carried out by applying an inverse sensor model to the received measurement, while considering the distance sensor co-located with a detected obstacle and by applying Bayesian fusion to update the pose probabilities of the position grids.

Method and apparatus for performing grid-based locailization of a mobile body

An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided.

Environment sensing method and apparatus using a wide-angle distance sensor

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