PERIPHERAL ENVIRONMENT ESTIMATION DEVICE AND PERIPHERAL ENVIRONMENT ESTIMATION METHOD
展开▼
机译：周边环境估计装置及周边环境估计方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
PROBLEM TO BE SOLVED: To accurately estimate a peripheral environment from observational data acquired using a sensing apparatus.SOLUTION: Pixels having an observational data space including observational data obtained by a sensor 50 are sampled, a grid-undefined logarithmic likelihood ratio indicating whether a received signal has been reflected from a detection object is calculated on the basis of the intensity value of the received signal, and an angle distribution function indicating the degree of the dispersion about an azimuth angle is calculated. Then, the product of the grid-undefined logarithmic likelihood ratio and the distribution function is calculated. On the basis of the dispersion by the distribution function, calculation of updating the occupation probability of an object for a plurality of grids in an occupation grid map is performed.SELECTED DRAWING: Figure 2
展开▼
