Abstract: A method for analysing a dynamic scene partitioned into cells which involves determining a probability of occupancy of a cell and a probability or probabilities of movement of the cell by solving the equation P(OV|ZC)=?AO?1 V-1P(CAOO?1VV?1Z)/?AOO?1VV?1P(CAOO?VV?1Z) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k?1)th iteration and the probability P(VFV-1); the determination of the particles located in each cell depending on the determined positions, and the solving of the equation, for a cell, is split into the solving of a static part corresponding to P(O=empty, V=O|ZC) and P(O=occupied, V=O|ZC) and the solving of a dynamic part corresponding to P(O=occ, V=vkl,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.