| CPC G01S 17/58 (2013.01) [G01S 7/497 (2013.01); G01S 17/931 (2020.01)] | 10 Claims |
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1. A distance measurement correction device that corrects distance measurement information between a sensor and a body, at least one of which moves, the distance measurement information being respective distances in a plurality of directions from the sensor to the body that are measured through one cycle by the sensor, the distance measurement correction device comprising:
processing circuitry
to calculate respective movement distances of the body with respect to the sensor in the plurality of directions as pieces of movement information, on the basis of a difference between distance measurement information measured on a current occasion by the sensor and distance measurement information measured on a previous occasion by the sensor,
to calculate movement velocities of the body as body movement velocities using the respective pieces of movement information for the plurality of directions and to extract a direction, for which the distance measurement information is to be corrected, as a correction direction from among the plurality of directions, on the basis of a result of comparing the body movement velocities to a threshold, and
to calculate a distance from the sensor to the body for the correction direction at a correction time point between a time point of measurement on the previous occasion by the sensor and a time point of measurement on the current occasion by the sensor as post-correction distance measurement information, wherein
the processing circuitry extracts each of the plurality of directions as the correction direction if the body movement velocity in the corresponding direction of the plurality of directions is equal to or less than the threshold,
the threshold is the velocity for determining that the body is moving, and
the threshold is calculated on the basis of a threshold velocity corresponding to the body.
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