Processing system, teacher data generating method, and object detection method

A processing system for detecting an object existing on a ground surface or in a ground of a target region, the processing system comprising:

• at least one memory storing instructions;
• and
• at least one processor configured to execute the instructions to:
• acquire, from a flying body comprising an electromagnetic wave emitting unit that emits an electromagnetic wave toward the target region, and a reflected wave detecting unit that detects a reflected wave of the electromagnetic wave and generates reflected wave data, the reflected wave data;
• generate three-dimensional information including a position of a reflection point in a three-dimensional space and a probability that an object exists at the reflection point by using the reflected wave data;
• and
• detect a type of the object and a position in the three-dimensional space by processing the three-dimensional information with a learned model.

A teacher data generating method comprising:

• for each of a plurality of types of objects,
• emitting an electromagnetic wave to an object from above a target region where the object is disposed at a predetermined depth from a ground surface;
• generating reflected wave data by detecting a reflected wave of the electromagnetic wave while changing an angle between a reflected wave detecting unit that detects the reflected wave and the target region;
• generating, for each of a plurality of depths, three-dimensional information including a position of a reflection point in a three-dimensional space and a probability that the object exists at the reflection point based on the reflected wave data;
• and
• generating teacher data with the three-dimensional information as an explanatory variable and the type and the depth of the object as objective variables.

An object detection method, executed by a processing system, comprising:

• acquiring the reflected wave data from a flying body comprising an electromagnetic wave emitting unit that emits an electromagnetic wave toward the target region and a reflected wave detecting unit that detects a reflected wave of the electromagnetic wave and generates the reflected wave data;
• generating three-dimensional information including a position of a reflection point in a three-dimensional space and a probability that an object exists at the reflection point by using the reflected wave data;
• and
• detecting a type of the object and a position in the three-dimensional space by processing the three-dimensional information with a learned model.