Title:
OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND OBSTACLE DETECTION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/084583
Kind Code:
A1
Abstract:
An obstacle detection device (3) is provided with: a plane detection unit (31) that receives information about observation-point-group data that includes a plurality of reflection points (14) observed within a measurement range including a water surface (10), and detects a plane passing near the plurality of reflection points (14) included in the observation-point-group data; a pseudo water surface detection unit (32) that detects a pseudo water surface; a wave peak detection unit (34) that detects the reflection point (14) corresponding to a wave peak (16); and an obstacle detection unit (3e) that sets the reflection point (14) corresponding to the pseudo water surface and the reflection point (14) corresponding to the wave peak (16) as the reflection points (14) included in water-surface-point-group data, and determines that the reflection point (14) that is not included in the water-surface-point-group data is the reflection point (14) of an obstacle.
Inventors:
HIROMATSU KOHEI (JP)
YOSHIDA MICHINORI (JP)
SUGAMA YASUSHI (JP)
YOSHIDA MICHINORI (JP)
SUGAMA YASUSHI (JP)
Application Number:
PCT/JP2019/042200
Publication Date:
May 06, 2021
Filing Date:
October 28, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G01S17/89
Foreign References:
| JP2017133902A | 2017-08-03 | |||
| JP2012237592A | 2012-12-06 | |||
| JP2008281380A | 2008-11-20 | |||
| US20110271752A1 | 2011-11-10 |
Other References:
MORI, YASUKUNI ET AL: "Analysis of Sea-wave Data Measured by LEDLidar. 3.3 Measurement Data", IEICE TECHNICAL REPORT, vol. 115, no. 451, 11 February 2016 (2016-02-11), pages 43 - 48
Attorney, Agent or Firm:
MIZOI INTERNATIONAL PATENT FIRM (JP)
Download PDF: