METHOD AND SYSTEM FOR ADAPTIVE RAY BASED SCENE ANALYSIS OF SEMANTIC TRAFFIC SPACES AND VEHICLE EQUIPPED WITH SUCH SYSTEM

A method and a system computationally performs scene analysis of semantic traffic spaces based on an adaptive spatio-temporal ray-based approach. The method includes acquiring a spatial semantic environment map including semantic context data, calculating at least one feature for at least one location on the spatial environment map taking into account the semantic context of the location and determining a category for the at least one location based on the at least one calculated feature. A feature is a ray based feature calculated by integrating input values along at least one ray extending in least one of a space dimension and a time dimension. The ray may have a ray shape corresponding to a general shape of a road and/or the at least one spatially extending ray follows a course of the road and/or is perpendicular to a surrounding road segment orientation.