The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 31, 2021
Filed:
Feb. 08, 2018
Commissariat a L'energie Atomique ET Aux Energies Alternatives, Paris, FR;
Frédéric Heitzmann, Meylan, FR;
Abstract
A method for perceiving physical bodies comprises the following steps: a) acquisition of a plurality of distance measurements of the physical bodies arising from one or more sensors; b) acquisition or computation of a value of a priori probability of occupancy of the cells of an occupancy grid; and c) application of an inverse sensor model on the occupancy grid to determine a probability of occupancy of a set of cells of the grid; d) construction of a consolidated occupancy grid by fusing the occupancy probabilities estimated during step c); wherein each the inverse sensor model is a discrete model, associating with each cell of the corresponding occupancy grid, and for each distance measurement, a probability class chosen inside one and the same set of finite cardinality and identified by an integer index; and wherein step d) is implemented by means of integer computations performed on the indices of the probability classes determined during step c), and as a function of the value of a priori occupancy probability. A system for perceiving physical bodies, adapted to implement the method is provided.