Title:
動的シーン分析方法、関連する分析モジュール、およびコンピュータプログラム
Document Type and Number:
Japanese Patent JP6550403
Kind Code:
B2
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.
Inventors:
Rozier, christian
Nagle, Amori
Perolas, Matthias
Lummelhard, Lucas
Nagle, Amori
Perolas, Matthias
Lummelhard, Lucas
Application Number:
JP2016571280A
Publication Date:
July 24, 2019
Filing Date:
June 02, 2015
Export Citation:
Assignee:
INRIA INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS
International Classes:
G06T7/277; G01S17/87; G01S17/931
Other References:
M.K. Tay, K. Mekhnacha, C. Chen, M. Yguel, C. Laugier,An efficient formulation of the Bayesian occupation filter for target tracking in dynamic environments,2008 International Journal of Vehicle Autonomous Systems,米国,2008年,Vol.6 No.1/2,pp.155 - 171
Radu Danescu, Florin Oniga, Sergiu Nedevschi,Modeling and Tracking the Driving Environment With a Particle-Based Occupancy Grid,IEEE Transactions on Intelligent Transportation Systems,米国,2011年 7月 7日,Vol.12,Issue.4,pp.1331-1342
Tobias Gindele, Sebastian Brechtel, Joachim Schroder, Rudiger Dillmann,Bayesian Occupancy grid Filter for dynamic environments using prior map knowledge,2009 IEEE Intelligent Vehicles Symposium,米国,2009年 6月 3日,pp.669-676
Qadeer Baig, Mathias Perrollaz, Jander Botelho Do Nascimento, Christian Laugier,Using fast classification of static and dynamic environment for improving Bayesian occupancy filter (BOF) and tracking,2012 12th International Conference on Control Automation Robotics & Vision (ICARCV),米国,2012年12月 5日,pp.656-661
Radu Danescu, Florin Oniga, Sergiu Nedevschi,Modeling and Tracking the Driving Environment With a Particle-Based Occupancy Grid,IEEE Transactions on Intelligent Transportation Systems,米国,2011年 7月 7日,Vol.12,Issue.4,pp.1331-1342
Tobias Gindele, Sebastian Brechtel, Joachim Schroder, Rudiger Dillmann,Bayesian Occupancy grid Filter for dynamic environments using prior map knowledge,2009 IEEE Intelligent Vehicles Symposium,米国,2009年 6月 3日,pp.669-676
Qadeer Baig, Mathias Perrollaz, Jander Botelho Do Nascimento, Christian Laugier,Using fast classification of static and dynamic environment for improving Bayesian occupancy filter (BOF) and tracking,2012 12th International Conference on Control Automation Robotics & Vision (ICARCV),米国,2012年12月 5日,pp.656-661
Attorney, Agent or Firm:
Tsutsui International Patent Office