| CPC G01S 13/865 (2013.01) | 10 Claims |
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1. An obstacle detection system comprising:
a three-dimensional light detection and ranging (LiDAR) or a depth camera installed on a floating body to include a water surface as a measurement range, and configured to receive information on observation point cloud data formed of a plurality of reflection points observed within the measurement range including the water surface, the information including position information of each reflection point;
processing circuitry
to detect planes extending near a plurality of reflection points included in the observation point cloud data;
to detect, as a pseudo water surface, a plane formed by reflection points that are positioned at a lowest height, among the plurality of reflection points within the observation point cloud data;
to detect a reflection point corresponding to a wave peak, from upper point cloud data by grouping the plurality of reflection points into point cloud groups based on relative distances between the plurality of reflection points, identifying a point cloud group whose barycentric position is located at a distance from the pseudo water surface that is less than or equal to a water surface threshold and fits a wave peak model, and detecting the reflection point corresponding to the wave peak within the identified point cloud group, the wave peak being formed of the water surface excluding a relatively low portion of a wave of the water surface, the upper point cloud data being formed of reflection points obtained by removing reflection points corresponding to the pseudo water surface from the reflection points included in the observation point cloud data; and
to take the reflection points corresponding to the pseudo water surface and the reflection point corresponding to the wave peak, as reflection points included in water surface point cloud data, and to determine a reflection point included in the observation point cloud data and not included in the water surface point cloud data, as a reflection point of an obstacle,
wherein when a tilt of a normal to the detected plane with respect to a height direction of the obstacle detection system is equal to or smaller than a tilt threshold angle, and/or a height of the detected plane is equal to or smaller than a plane threshold value, the processing circuitry determines the plane as the pseudo water surface; and
a display configured to display a result of detecting the obstacle.
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