MOVING OBJECT, CONTROL METHOD OF MOVING OBJECT, NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM, AND MOVING OBJECT CONTROL SYSTEM

MOVING OBJECT, CONTROL METHOD OF MOVING OBJECT, NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM, AND MOVING OBJECT CONTROL SYSTEM

A moving object acquires three-dimensional point cloud data in surroundings of the moving object; and generates a grid map based on the three-dimensional point cloud data, the moving object maps point clouds of the three-dimensional point cloud data to a grid on a horizontal plane parallel to a road...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
1. Verfasser: WAKAYAMA, Ryoji
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
GYROSCOPIC INSTRUMENTS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Beschreibung
Zusammenfassung:A moving object acquires three-dimensional point cloud data in surroundings of the moving object; and generates a grid map based on the three-dimensional point cloud data, the moving object maps point clouds of the three-dimensional point cloud data to a grid on a horizontal plane parallel to a road surface on which the moving object travels and generates the grid map in which each grid indicates whether a three-dimensional object having a predetermined height or a step exists. The moving object determines, for each grid of the grid map, whether the three-dimensional object exists based on a point density when a point cloud corresponding to each grid of the three-dimensional point cloud data is projected on the horizontal plane.