To provide an object recognition system capable of highly accurately recognizing a mobile object, an object recognition method, and an object recognition program.SOLUTION: A method executed by an object recognition system which recognizes a mobile object movable in an observation space observed by an observation device of a host vehicle performs the steps of: matching a three-dimensional dynamic map Mt representing a state of a mapping point group formed by mapping targets present in the observation space with three-dimensional observation data Dt representing a state of an observation point group observed in the observation space; searching the three-dimensional observation data Dt for an observation point Pn absent in the three-dimensional dynamic map Mt and an observation point Pd different from a mapping point of the three-dimensional dynamic map Mt as a candidate point Pc of a mobile object based on the matching; and identifying the mobile object on the basis of the candidate point Pc.SELECTED DRAWING: Figure 4

    【課題】移動物体を高精度で認識する物体認識システム、物体認識方法及び物体認識プログラムを提供する。【解決手段】ホスト車両の観測デバイスにより観測された観測空間において移動可能な移動物体を認識する物体認識システム装置による方法であって、観測空間に存在する物標をマッピングしたマッピング点群の状態を表す三次元ダイナミックマップMtと、観測空間において観測された観測点群の状態を表す三次元観測データDtとを、マッチングすることと、三次元ダイナミックマップMtに存在しない観測点Pnと、三次元ダイナミックマップMtのマッピング点とは異なる観測点Pdとを、マッチングに基づく移動物体の候補点Pcとして三次元観測データDtから探索することと、候補点Pcに基づき移動物体を識別することとを、実行する。【選択図】図4


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    Title :

    OBJECT RECOGNITION SYSTEM, OBJECT RECOGNITION METHOD, AND OBJECT RECOGNITION PROGRAM


    Additional title:

    物体認識システム、物体認識方法、物体認識プログラム


    Contributors:

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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