System and method for environment perception

A system for environment perception, comprising:

• one or more sensors associated with a vehicle, the one or more sensors configured to detect objects in an environment surrounding the vehicle;
• and
• a processing device in communication with the one or more sensors, wherein the processing device is configured to execute instructions stored in a memory to perform operations comprising:
• generating a grid representative of the environment surrounding the vehicle, the grid including a plurality of cells;
• assigning a first cell of the plurality of cells to a first object detected in the environment with the one or more sensors, the first object determined to have a velocity below a threshold value;
• assigning a single birth particle to the first object to identify the first object as a static object;
• assigning a second cell of the plurality of cells to a second object detected in the environment with the one or more sensors, the second object determined to have a velocity above the threshold value;
• and
• assigning multiple birth particles to the second object to identify the second object as a dynamic object.