To provide a recognition system that recognizes a moving body at high accuracy.SOLUTION: A processor of a recognition system that recognizes a target moving body movable in a scanning space scanned by a scanning device of a host moving body, is configured to execute: acquiring three-dimensional scanning data Dt indicating a scanning point group at which the scanning space is scanned; reading a three-dimensional dynamic map Mt indicating a mapping point group at which an object being present in the scanning space is mapped, from a storage medium; and generating recognition data Dr obtained by recognizing the target moving body among a plurality of static objects separated forward and backward in a scanning direction of the scanning device in the scanning space by clustering of the scanning point group based on identification information Ii for identifying a state of the scanning space for each of a plurality of three-dimensional voxels obtained by dividing the scanning space in the three-dimensional dynamic map Mt.SELECTED DRAWING: Figure 4
【課題】移動体を高精度で認識する認識システムの提供。【解決手段】ホスト移動体の走査デバイスにより走査された走査空間において移動可能なターゲット移動体を認識する認識システムのプロセッサは、走査空間を走査した走査点群を表す三次元走査データDtを、取得することと、走査空間に存在する物体をマッピングしたマッピング点群を表す三次元ダイナミックマップMtを、記憶媒体から読み出すことと、三次元ダイナミックマップMtにおいて走査空間を分割した複数の三次元ボクセル毎に走査空間の状態を識別するための識別情報Iiに基づく走査点群のクラスタリングにより、走査空間において走査デバイスの走査方向に前後に離れた複数の静止物体間のターゲット移動体を認識した、認識データDrを生成することとを、実行するように構成される。【選択図】図4
RECOGNITION SYSTEM, RECOGNITION DEVICE, RECOGNITION METHOD AND RECOGNITION PROGRAM
認識システム、認識装置、認識方法、認識プログラム
2023-08-25
Patent
Electronic Resource
Japanese
RECOGNITION SYSTEM, RECOGNITION DEVICE, RECOGNITION METHOD, AND RECOGNITION PROGRAM
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