Patent ID: 10290116

Abstract:
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)=ΣA0−1V-1P(CA00−1VV−1Z)/ΣA00−1VV−1P(CA00−VV−1Z) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k−1)th iteration and the probability P(V|V−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=vki,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.