The invention provides an object recognition system, an object recognition method, and an object recognition program. A processor of an object recognition system for recognizing a movable moving object within an observation space observed by an observation device of a host vehicle is configured to perform matching of a three-dimensional dynamic map (Mt) indicating a state in which a mapping point group of an object present in the observation space is mapped, and three-dimensional observation data (Dt) indicating a state in which the mapping point group of the object present in the observation space is mapped, the matching being performed between the three-dimensional dynamic map (Mt) and the three-dimensional observation data (Dt). The three-dimensional observation data (Dt) represents the state of an observation point group observed in an observation space; an observation point (Pn) that does not exist in the three-dimensional dynamic map (Mt) and an observation point (Pd) that differs from the mapping point of the three-dimensional dynamic map (Mt) are searched from the three-dimensional observation data (Dt) as candidate points (Pc) for the moving object based on the matching; and identifying a moving object on the basis of the candidate point (Pc).
本发明提供一种物体识别系统、物体识别方法、物体识别程序。在由主车辆的观测设备观测到的观测空间内识别可移动的移动物体的物体识别系统的处理器构成为执行:对三维动态图(Mt)与三维观测数据(Dt)进行匹配,其中,上述三维动态图(Mt)表示映射了存在于观测空间的物标的映射点群的状态,上述三维观测数据(Dt)表示在观测空间中观测到的观测点群的状态;从三维观测数据(Dt)中搜索不存在于三维动态图(Mt)的观测点(Pn)和与三维动态图(Mt)的映射点不同的观测点(Pd),作为基于匹配的移动物体的候补点(Pc);以及基于候补点(Pc)来识别移动物体。
Object recognition system, object recognition method, and object recognition program
物体识别系统、物体识别方法、物体识别程序
2024-01-19
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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