Patent Document ID: 9460514
Application ID: 14352310
Patent Status: 1

Claim One:
1. A method for locating objects of interest in a scene observed by an image acquisition system, the objects of interest being located on a basis of an initial presence map p 1 cp (i) modeling positions i in the scene and comprising, for each position i , a value p 1 cp (i) representative of a probability that an object of interest is situated at the position i considered, each value p 1 cp (i) being obtained on a basis of a location criterion defined in an image space of the image acquisition system, the method comprising an iteration of the following successive steps as long as at least one of the values p k cp (i) of the presence map p k cp considered for a current iteration k is greater than a predetermined threshold: determining a position n k in the presence map p k cp for which a value p k cp (n k ) is a maximum, an object of interest being considered to be present at said position n k , on a basis of atoms A j predetermined for each position j of the presence map p k cp , the atom A j of a position j comprising, for each position i, a value MO representative of overlap between projection m′(i) in the image space of a three-dimensional model M′(i) placed at the position i and projection m′(j) in the image space of a three-dimensional model M′(j) placed at the position j, each three-dimensional model being representative of an object of interest, determining a presence map p k+1 cp each value p k+1 cp (j) of which is equal to a corresponding value of the initial presence map p 1 cp or of one of the presence maps determined during a previous iteration, decreased by a linear combination of values A n k (j) of atoms A n k corresponding to the positions n k where objects of interest are considered to be present.