METHOD FOR CHARACTERIZING THE ENVIRONMENT OF A MOBILE DEVICE, PRODUCING A GRID OF STATIC SPACE AND/OR A GRID OF FREE SPACE

The invention relates to a method for characterizing the environment of a mobile device, in which, for each iteration at a time t, the following steps are implemented: S10) Acquisition of a plurality of distance measurements (zt) in the environment by at least one sensor; S20) Generation of a pair (wt) of occupancy grids at time t - 1 (OGt-1) and at time t (OGt), each grid (OGt-1, OGt) merging the distance measurements in a discretized spatial representation of the environment; S30) Generation of a static space grid at time t (SGt), or S40) Generation of a free space grid at time t (FGt),