The present invention addresses the problem of providing an identification system for identifying a moving body with high precision. A processor (12) of an identification system (1) for identifying a target moving body (9) capable of moving in a scanning space (30) scanned by a scanning device (3) of a main moving body (2) is configured to: acquire three-dimensional scanning data (Dt) indicating a scanning point cloud obtained by scanning the scanning space (30); reading out, from the storage medium (10), a three-dimensional dynamic map (Mt) representing a mapping point cloud in which an object present in the scanning space (30) is mapped; and generating identification data (Dr) by clustering the scanning point clouds on the basis of identification information (Ii) for identifying the state of the scanning space (30) for each of a plurality of three-dimensional voxels (300) obtained by dividing the scanning space (30) in the three-dimensional dynamic map (Mt), the identification data is data obtained by identifying a target moving body (9) between a plurality of stationary objects (8) separated back and forth in the scanning direction of the scanning device (3) in the scanning space (30).
本发明的课题在于提供一种以高精度识别移动体的识别系统。识别能够在由主移动体(2)的扫描设备(3)进行了扫描的扫描空间(30)中移动的目标移动体(9)的识别系统(1)的处理器(12)构成为执行:取得三维扫描数据(Dt),该三维扫描数据(Dt)表示对扫描空间(30)进行扫描而得的扫描点云;从存储介质(10)读出三维动态地图(Mt),该三维动态地图表示映射了存在于扫描空间(30)的物体的映射点云;以及通过基于识别信息(Ii)进行的扫描点云的聚类来生成识别数据(Dr),其中,该识别信息用于针对在三维动态地图(Mt)中将扫描空间(30)分割而得的多个三维体素(300)中的每一个识别扫描空间(30)的状态,该识别数据是对在扫描空间(30)中在扫描设备(3)的扫描方向上前后分离的多个静止物体(8)之间的目标移动体(9)进行了识别的数据。
Identification system, identification device, identification method, and identification program
识别系统、识别装置、识别方法、识别程序
2024-08-23
Patent
Electronic Resource
Chinese
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