Method for tracking multiple target objects, device, and computer program for implementing the tracking of multiple target objects for the case of moving objects

An apparatus for executing a method of tracking multiple target objects, moving objects to be tracked being projected onto a grid map having grid cells, comprising:

• a device configured to perform the following:
• calculating a velocity distribution for the next time step with a transition velocity distribution, which indicates how the objects associated with a particular grid cell move from one time step to the next, based on the preceding velocity distribution;
• calculating, for each of the grid cells, a transitional probability information item, which indicates, for objects in each of the grid cells, probabilities of the objects reaching possible, further grid cells, as a function of the velocity distribution;
• calculating an occupancy probability for each of the grid cells for a subsequent time step, based on the transitional probability information item;
• and
• operating a system as a function of the occupancy probabilities for the grid cells wherein:
• the transitional velocity distribution for each of the grid cells is calculated as a function of a supplied plan, with a trained neural network and with a multivariate Gaussian model, and
• the transitional velocity distribution is ascertained from an acceleration distribution, with a neighboring transitional velocity distribution obtained with the aid of the neural network, using the multivariate Gaussian model, and
• the transitional velocity distribution for a particular grid cell is ascertained, in that:
• an acceleration distribution is ascertained from the neighboring transitional velocity distribution by subtraction;
• the acceleration distribution is expanded to a range of grid cells with the aid of the multivariate Gaussian model, and rendered discrete for grid cells situated about the particular grid cell;
• and
• the velocity distribution for the next time step from the expanded acceleration distribution in the grid cells situated about the particular grid cell is ascertained;
• a robot is controlled as a function of the occupancy probabilities for the grid cells.

A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

• a program code arrangement having program code for tracking multiple target objects, moving objects to be tracked being projected onto a grid map having grid cells, tby performing the following:
• computing a velocity distribution for a next time step with a transitional velocity distribution, which indicates how the objects associated with a grid cell move from one time step to the next time step, based on the preceding velocity distribution;
• calculating, for each of the grid cells, a transitional probability information item, which indicates, for objects in each of the grid cells, probabilities of the objects reaching possible, further grid cells, as a function of the velocity distribution;
• calculating an occupancy probability for each of the grid cells for a subsequent time step, based on transitional probability information item;
• and
• operating a system as a function of the occupancy probabilities for the grid cells wherein:
• the transitional velocity distribution for each of the grid cells is calculated as a function of a supplied plan, with a trained neural network and with a multivariate Gaussian model, and
• the transitional velocity distribution is ascertained from an acceleration distribution, with a neighboring transitional velocity distribution obtained with the aid of the neural network, using the multivariate Gaussian model, and
• the transitional velocity distribution for a particular grid cell is ascertained, in that:
• an acceleration distribution is ascertained from the neighboring transitional velocity distribution by subtraction;
• the acceleration distribution is expanded to a range of grid cells with the aid of the multivariate Gaussian model, and rendered discrete for grid cells situated about the particular grid cell;
• and
• the velocity distribution for the next time step from the expanded acceleration distribution in the grid cells situated about the particular grid cell is ascertained;
• a robot is controlled as a function of the occupancy probabilities for the grid cells.