US 11,867,870 B2
Fog determination apparatus, fog determination method, and computer readable medium
Kimihiko Hiroi, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 16/978,569
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Mar. 12, 2018, PCT No. PCT/JP2018/009396
§ 371(c)(1), (2) Date Sep. 4, 2020,
PCT Pub. No. WO2019/175920, PCT Pub. Date Sep. 19, 2019.
Prior Publication US 2021/0019537 A1, Jan. 21, 2021
Int. Cl. G01S 17/95 (2006.01); G01S 17/86 (2020.01); G06V 10/60 (2022.01); G01W 1/02 (2006.01); G06V 20/58 (2022.01)
CPC G01W 1/02 (2013.01) [G01S 17/86 (2020.01); G01S 17/95 (2013.01); G06V 10/60 (2022.01); G06V 20/58 (2022.01)] 10 Claims
OG exemplary drawing
 
1. A fog determination apparatus comprising:
processing circuitry to:
acquire point data indicating a reflection point obtained by an optical sensor that receives reflected light of an emitted light beam reflected at the reflection point;
acquire image data of an area around the reflection point indicated by the acquired point data;
calculate, as a value indicating smoothness of luminance of the image data, a sum of absolute values of values resulting from calculating a second derivative of luminance of each pixel constituting one or more horizontal lines of the acquired image data; and
determine a density of fog based on a distance, which is determined from the point data, from the optical sensor to the reflection point and the calculated smoothness of the luminance.