Method for the determination, by a computer on board an autonomous robot, of a pixel map of the probability of at least one of absence and presence of an obstacle, autonomous robot and computer program product

摘要

the invention relates to a method to compute a pixel map of probabilities of one of absence and presence of an obstacle in the environment of an autonomous robot. autonomous robot comprises at least one sensor grouped in at least one set of sensors which detect obstacles of similar types and have their own initial sensor map of probability of absence of obstacles. the method comprises the steps of initializing, a map around the robot and attached to the robot with a predefined value of probability of absence or presence of an obstacle, acquiring data representative of the absence or presence of an obstacle around the robot from at least one sensing procedure, and concurrently updating values of probabilities using data from sensing procedure and modifying probabilities of absence or presence of obstacle from previous observations to a value closer to a predefined value.