ITERATIVE METHOD FOR ESTIMATING THE MOVEMENT OF A MATERIAL BODY BY GENERATING A FILTERED MOVEMENT GRID

An iterative method for estimating the movement of at least one material body in a surrounding space discretized into a grid of cells, includes the following steps: a) obtaining an inconsistency grid in iteration t (IG), generated in response to detection of a change of occupancy state in at least one of the cells of the grid of cells between an iteration t-1 and iteration t, b) recurrently generating a filtered movement grid in iteration t (FMG, FMG) comprising, for each cell of the inconsistency grid in iteration t (IG), a posterior probability (P(d|z), of the material body having performed a movement with at least one movement component characterizing the movement, the movement component forming part of a discrete set of components around the cell, the filtered movement grid in iteration t (FM, FMG) being generated on the basis of the filtered movement grid in iteration t-1 (FMG, FMG), of an inconsistency grid from iteration t-1 (IG), and of the inconsistency grid in iteration t(IG).