Patent ID: 11861914
Assignee: NISSAN MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. An object recognition device, comprising: a sensor configured to acquire a position of an object existing in a surrounding environment as point clouds including a plurality of detection points in a top view; and a controller configured to process the point clouds acquired by the sensor, wherein
the controller is further configured to:
group the point clouds according to a proximity of the point clouds;
determine, when performing polygon approximation on the grouped point clouds, whether or not at least part of the detection points constituting the grouped point clouds are located in a blind zone of an approximate polygon acquired by the polygon approximation on the point clouds with respect to the sensor;
recognize the grouped point clouds as point clouds corresponding to plural objects when it is determined that the detection points are located in the blind zone with respect to the sensor, and
recognize the grouped point clouds as point clouds corresponding to a single object of the approximate polygon when it is determined that the detection points are not located in the blind zone with respect to the sensor.