Recognition system, recognition device, recognition method, and program product

A recognition system comprising:

• a computer-readable non-transitory storage medium;
• and
• a processor, by executing a program stored in the computer-readable non-transitory storage, configured to recognize, in a scan space, target moving objects that are movable in the scan space by scanning the target moving objects using a scanning device mounted on a host moving object,
• wherein the processor is configured to:
• acquire three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• read, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• and
• cluster the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map and generate recognition data by recognizing the target moving objects, which are overlapped with one another in the scan space when viewed in a scan direction of the scanning device.

A recognition device mountable on a host moving object, the recognition device comprising:

• a computer-readable non-transitory storage medium;
• and
• a processor, by executing a program stored in the computer-readable non-transitory storage, configured to recognize, in a scan space, a target moving object that is movable in the scan space by scanning the target moving object using a scanning device mounted on the host moving object,
• wherein the processor is configured to:
• acquire three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• read, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• and
• cluster the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map and generate recognition data by recognizing the target moving object present between multiple stationary objects which are spaced apart from each other in front-rear relation along a scan direction of the scanning device in the scan space.

A recognition device mountable on a host moving object, the recognition device comprising:

• a computer-readable non-transitory storage medium;
• and
• a processor, by executing a program stored in the computer-readable non-transitory storage, configured to recognize, in a scan space, target moving objects that are movable in the scan space by scanning the target moving objects using a scanning device mounted on the host moving object,
• wherein the processor is configured to:
• acquire three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• read, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• and
• cluster the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map and generate recognition data by recognizing the target moving objects, which are overlapped with one another in the scan space when viewed in a scan direction of the scanning device.

A recognition method to be executed by a processor to recognize, in a scan space, a target moving object that is movable in the scan space by scanning the target moving object using a scanning device mounted on a host moving object, the recognition method comprising:

• acquiring three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• reading, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• clustering the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map;
• and
• generating recognition data by recognizing the target moving object present between multiple stationary objects which are spaced apart from each other in front-rear relation along a scan direction of the scanning device in the scan space.

A recognition method to be executed by a processor to recognize, in a scan space, target moving objects that are movable in the scan space by scanning the target moving objects using a scanning device mounted on a host moving object, the recognition method comprising:

• acquiring three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• reading, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• clustering the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map;
• and
• generating recognition data by recognizing the target moving objects, which are overlap with one another in the scan space when viewed in a scan direction of the scanning device.

A recognition program product stored in a computer-readable non-transitory storage medium, the recognition program product comprising instructions to be executed by a processor to recognize, in a scan space, a target moving object that is movable in the scan space by scanning the target moving object using a scanning device mounted on a host moving object, the instructions comprising:

• acquiring three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• reading, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• clustering the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map;
• and
• generating recognition data by recognizing the target moving object present between multiple stationary objects which are spaced apart from each other in front-rear relation along a scan direction of the scanning device in the scan space.

A recognition program product stored in a computer-readable non-transitory storage medium, the recognition program product comprising instructions to be executed by a processor to recognize, in a scan space, target moving objects that are movable in the scan space by scanning the target moving objects using a scanning device mounted on a host moving object, the instructions comprising:

• acquiring three-dimensional scan data representing a scan point group generated by scanning of the scan space;
• reading, from a storage medium, a three-dimensional dynamic map representing a mapping point group generated by mapping of an object present in the scan space;
• clustering the scan point group based on identification information for identifying a state of the scan space in each of multiple three-dimensional voxels into which the scan space is divided in the three-dimensional dynamic map;
• and
• generating recognition data by recognizing the target moving objects, which are overlap with one another in the scan space when viewed in a scan direction of the scanning device.