Methods And Systems For Determining Information Of Static Occupancy

A computer implemented method for determining information of static occupancy comprises the following steps carried out by computer hardware components: based on a plurality of existing hypotheses for the information of static occupancy, determining a plurality of predicted hypotheses; based on measurements, correcting the plurality of predicted hypotheses to obtain predicted and corrected hypotheses; merging the predicted and corrected hypotheses to obtain merged hypotheses; and pruning at least a portion of the merged hypotheses to obtain final hypotheses; wherein the method further comprises at least one of the following: during pruning, hypotheses with a covariance above a pre-determined covariance threshold are disregarded; and/or during merging, for each of the merged hypotheses, at most two predicted and corrected hypotheses are merged; and/or after pruning, at least one hypothesis is added to the final hypotheses at a location of at least one measurement of the measurements which is not covered by a hypothesis of the hypotheses.