To shorten a time required for detection processing of a moving body using LiDAR.SOLUTION: An object detection device 100 that executes processing for detecting an object based on a change in a predetermined pattern LS having a first portion extending in a predetermined first direction set for a measurement point group detected by LiDAR 11 executes: first detection processing for setting the predetermined pattern LS for the measurement point group and detecting a moving body based on a change from a previous processing cycle in a first predetermined pattern LS1 of the set predetermined pattern LS having a length of the first portion equal to or greater than a predetermined reference value; and second detection processing for setting a second predetermined pattern LS2 by performing processing different from the first detection processing on a measurement point group other than a first measurement point group in which the first predetermined pattern LS1 is set, and detecting the moving body based on a change in the second predetermined pattern LS2 from a previous processing cycle.SELECTED DRAWING: Figure 12
【課題】LiDARを用いた移動体の検出処理に要する時間を短縮する。【解決手段】LiDAR11により検出される測定点群に対して設定される所定の第1方向へ延びる第1の部分を有する所定パターンLSの変化に基づいて物体を検出する処理を実行する物体検出装置100は、測定点群に対して所定パターンLSを設定し、設定した所定パターンLSのうち、第1の部分の長さが所定の基準値以上の第1の所定パターンLS1の前回の処理サイクルからの変化に基づいて移動体を検出する第1検出処理と、第1の所定パターンLS1を設定した第1測定点群以外の測定点群に対して、第1検出処理とは異なる処理により第2の所定パターンLS2を設定し、第2の所定パターンLS2の前回の処理サイクルからの変化に基づいて移動体を検出する第2検出処理とを実行する。【選択図】図12
OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD AS WELL AS COMPUTER PROGRAM
物体検出装置及び物体検出方法並びにコンピュータプログラム
2024-03-06
Patent
Electronic Resource
Japanese
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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