A perception device, including at least one image sensor configured to detect a plurality of images; an information estimator configured to estimate from each image of the plurality of images a depth estimate, a velocity estimate, an object classification estimate and an odometry estimate; a particle generator configured to generate a plurality of particles, wherein each particle of the plurality of particles comprises a position value determined from the depth estimate, a velocity value determined from the velocity estimate and a classification value determined from the classification estimate; an occupancy hypothesis determiner configured to determine an occupancy hypothesis of a predetermined region, wherein each particle of the plurality of particles contributes to the determination of the occupancy hypothesis.