| CPC G01S 17/06 (2013.01) | 10 Claims |
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1. A target object detection apparatus used together with an irradiation apparatus, the irradiation apparatus comprising:
a transmitter that executes, at a plurality of timings, processing of irradiating an electromagnetic wave to a region through which a target object passes, while the region is being scanned;
a receiver that receives a reflection wave acquired from the electromagnetic wave being reflected by the target object, and generates an IF signal being an intermediate frequency signal from the received reflection wave;
at least one memory storing instructions; and
at least one processor configured to execute the instructions to perform operations comprising:
identifying, at each of the plurality of timings, a target object region where there is a possibility in that the target object is present and a type of the target object which may exist in the target region, by processing the IF signal generated by the receiver;
generating, at each of the plurality of timings, likelihood information for each of a plurality of the types of the target object, the likelihood information indicating a distribution of presence probabilities of the target object in at least a height direction in the target object region, based on processing results of the IF signal; and
determining, for each of the plurality of the types of the target object, a presence or absence of the target object by using the likelihood information generated at each of the plurality of timings.
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