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公开(公告)号：EP4310550A1
公开(公告)日：2024-01-24
申请号：EP21931426.7
申请日：2021-03-15
摘要： In the information processing device, the point cloud data acquisition means acquires point cloud data generated by a measurement device provided on a ship. The water-surface reflection data extraction means extracts data obtained by measuring a position which is a predetermined distance away from a shore and which is within a predetermined distance from a measurement position of the measurement device, as a water-surface reflection data measured by reflection at a water surface. Then, the water-surface height calculation means calculates a water-surface height based on the water-surface reflection data.
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公开(公告)号：EP4400404A1
公开(公告)日：2024-07-17
申请号：EP21956796.3
申请日：2021-09-10
摘要： The controller 13 of the information processing device 1 is configured to acquire measurement data of a feature measured by a lidar 3 provided on a ship and measurement data of a water surface. In addition, the controllers 13 is configured to acquire information regarding a height of the feature from a river map DB 10. Then, the controller 13 is configured to acquire highest point information IH regarding a height of the highest point of the ship from a reference position of the ship. Then, the controller 13 is configured to calculate a ship highest point height based on the measurement data of the feature, the measurement data of the water surface, the information regarding the height of the feature, and the highest point information IH.
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公开(公告)号：EP4401062A1
公开(公告)日：2024-07-17
申请号：EP21956799.7
申请日：2021-09-10
发明人： KATO, Masahiro , MATSUMOTO, Reiji
IPC分类号： G08G3/00
摘要： The controller 73 of a server device 7C stores a predicted water level DB 70 representing a predicted water level for each water level prediction point in the river. Then, the controller 73 receives, from plural ships, the measured water level information D2 relating to the measured water levels measured by the plural ships. Then, the controller 73 updates the predicted water level DB 70 based on the measured water level information D2. Then, the controller 73 distributes the predicted water level information D1 generated based on the predicted water level DB 70.
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4.发明公开
公开(公告)号：EP4317914A1
公开(公告)日：2024-02-07
申请号：EP21934790.3
申请日：2021-03-29
IPC分类号： G01C21/20
摘要： A data structure of the voxel data VD according to this example is a map data structure which is a data structure of map data to be referred to by an information processing device 1, and includes position information indicating a position of a structural object and attribution information indicating whether or not the structural object is a floating object on a water surface. If the attribute information indicates that the structural object is a floating object on a water surface, the attribute information is used by the information processing device 1 to identify the position of the structural object by using the position information as relative position information relative to a position of the water surface.
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公开(公告)号：EP4227642A1
公开(公告)日：2023-08-16
申请号：EP21877655.7
申请日：2021-10-06
发明人： SUZUKI, Masami , KATO, Masahiro
摘要： The information processing device includes a point cloud map data acquisition unit, a scan data acquisition unit, a scan data processing unit, and a matching unit. The point cloud map data acquisition unit is configured to acquire point cloud map data that is point cloud data whose reflection intensity is equal to or larger than a threshold value. The scan data acquisition unit is configured to acquire scan data that is point cloud data measured by receiving reflected light of emitted light. The scan data processing unit is configured to generate, from the scan data, high reflection intensity scan data whose reflection intensity is equal to or larger than a predetermined threshold value. The matching unit is configured to perform matching between the point cloud map data and the high reflection intensity scan data.
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公开(公告)号：EP4417937A1
公开(公告)日：2024-08-21
申请号：EP21960639.9
申请日：2021-10-14
发明人： KATO, Masahiro
IPC分类号： G01C21/12 , G01C15/00 , G01S13/937 , G08G3/00
CPC分类号： G01C21/12 , G01C15/00 , G08G3/00 , G01S13/937
摘要： An information processing device includes a predicted position acquisition means, an estimated position calculation means, a reliability calculation means, and a velocity calculation means. The predicted position acquisition means acquires a predicted position of a ship. The estimated position calculation means calculates an estimated position of the ship in which the predicted position is updated, based on a matching between data based on an output of an external sensor provided on the ship and map data. The reliability calculation means calculates a reliability of the matching. The velocity calculation means calculates a velocity of the ship at a first process time based on the estimated position at the first process time, an estimated position at a second process time immediately before the first process time, and a time constant set depending on at least the reliability.
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公开(公告)号：EP4257926A1
公开(公告)日：2023-10-11
申请号：EP21903219.0
申请日：2021-11-29
发明人： KATO, Masahiro , SUZUKI, Masami
IPC分类号： G01C21/30
摘要： A controller 13 of an in-vehicle device 1 is configured to acquire a DR position X DR that is a first candidate position of a vehicle. Further, the controllers 13 is configured to acquire an NDT position X NDT that is a second candidate position of the vehicle, the NDT position X NDT being determined based on NDT scan matching that is a matching between point cloud data and voxel data VD that is map data, the point cloud data being outputted by a lidar 2 that is the external sensor provided in the vehicle. Furthermore, the controllers 13 is configured to calculate a reliability value NRV representing the reliability of the NDT scan matching. The controllers 13 is configured to determine the estimated own vehicle position X^ based on the DR position X DR , the NDT position X NDT , and the reliability value NRV.
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公开(公告)号：EP4246489A1
公开(公告)日：2023-09-20
申请号：EP21891823.3
申请日：2021-11-08
发明人： KATO, Masahiro , SUZUKI, Masami
IPC分类号： G08G1/0968 , G01C21/30 , G01S7/4913 , G01S17/931
摘要： The controller 13 of the in-vehicle device 1 acquires point cloud data outputted by a lidar 2. Then, the controller 13 generates processed point cloud data obtained by down-sampling the point cloud data. The controller 13 matches the processed point cloud data with voxel data VD which represents a position of an object with respect to each voxel that is a unit area and thereby associates a measurement point of the processed point cloud data with the each voxel. Then, the controller 13 changes the size of the subsequent down-sampling based on the associated measurement points number Nc which is the number of measurement points associated with the each voxel among the measurement points of the processed point cloud data.
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公开(公告)号：EP4400405A1
公开(公告)日：2024-07-17
申请号：EP21956797.1
申请日：2021-09-10
发明人： KATO, Masahiro , MATSUMOTO, Reiji
摘要： The controller 13 of the information processing device 1 acquires predicted water level information D1 regarding a predicted water level at water level prediction points subjected to prediction of a water level on one or more candidate routes serving as candidates for an operation route of a ship. Then, the controllers 13 calculate, based on the predicted water level information D1, a predicted bridge water level which is a predicted water level at an expected passing time when the ship passes each bridge passing point, which is a point of each bridge passed by the ship existing on the candidate routes. Then, the controller 13 determines the suitability of each of the candidate routes as the operation route, based on the predicted bridge water level.
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公开(公告)号：EP4310815A1
公开(公告)日：2024-01-24
申请号：EP21931430.9
申请日：2021-03-15
IPC分类号： G08G3/02
摘要： In the information processing device, the object detection means detects an object based on point cloud data generated by a measurement device provided on a ship. The positional relationship acquisition means to acquires a relative positional relationship between the object and the ship. The display control means displays, on a display device, information related to the positional relationship in a display mode according to the positional relationship.
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