| CPC G01S 17/42 (2013.01) [G01S 7/4808 (2013.01); G01S 17/66 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01)] | 11 Claims |
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1. An object recognition device that recognizes an object by using measurement results of a laser distance measurement sensor, the object recognition device comprising:
an acquisition unit that acquires the measurement results of the laser distance measurement sensor;
a time-series data creation unit that creates time-series data of the measurement results by arranging the measurement results in time series; and
a recognition unit that recognizes a position and a size of the object indicated by the measurement results by grouping the measurement results described by the time-series data,
wherein the time-series data creation unit creates the time-series data by retaining the measurement result described by the time-series data for a predetermined time and deleting the measurement result which is not updated continuously for the predetermined time or more,
the object recognition device further includes a reliability calculation unit that calculates reliability of the position and size of the object recognized by the recognition unit, and
the time-series data creation unit changes a time for retaining the measurement result on the time-series data according to the reliability.
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