Dynamic scene analysis method, and associated analysis module and computer programme

A device effective to analyze a dynamic scene observed with the aid of one or more sensors, the device is configured to:

• define a grid partitioned into cells and corresponding to the observed scene;
• collect at least one new observation of the one or more sensors at a kth iteration and determining, as a function of the new collected observation, a first probability of occupancy of each cell of the grid and that models the operation of the one or more sensors;
• determine, for each cell, at the kth iteration, a second probability of occupancy of the cell and a set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration, wherein the device is adapted to determine said second probability of occupancy of the cell and the set of probabilities of motion of the content of the cell as a function of the first probability of occupancy of the cell determined at the kth iteration based on:
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• an identifier of the cell considered;
• an identifier of the cell which contained, at the (k−1)th iteration, what is contained in the cell considered at the kth iteration;
• an occupancy state of the cell considered, from among the empty and occupied states;
• an occupancy state of the cell at the (k−1)th iteration;
• a velocity of the cell considered;
• a velocity of the cell at the (k−1)th iteration;
• an observations of the sensors from the first iteration up to the kth iteration;
• wherein the device is further configured to;
• determine, at the kth iteration, the respective velocity and the respective position of a set of dummy particles in the grid as a function of the velocities, of the positions of the particles determined at the (k−1)th iteration and of the probability P(V|V−1);
• determine particles located in each cell as a function of the positions determined and to split the solving of the equation, for a cell, into the solving of a static part corresponding to P(O=empty, V=1|ZC) and P(O=occupied, V=0|ZC) and into the solving of a dynamic part corresponding to the P(O=occ, V=vik,|ZC), i=1 to nk, where nk is the number of particles determined in the cell C for the kth iteration;
• determine the static part of the cell C at the kth iteration as a function of the static part of the cell C determined at the (k−1)th iteration and of P(O|O−1);
• and
• determine the probability of P(O=occupied, V=vik,|ZC) of the dynamic part of the cell C at the kth iteration as a function of the probability P(O=occupied, V=vik−1,|ZA) calculated at the (k−1)th iteration for the dynamic part of the cell A and of P(O|O−1), where the particle pi determined in the cell C at the kth iteration with a velocity vik was situated in the cell A at the (k−1)th iteration with a velocity vik−1.