Abstract: The present disclosure provides a method and an apparatus for identifying a falling object based on a LiDAR system. The method includes obtaining a point cloud data set of a LiDAR system; identifying a dynamic point cloud cluster set based on the point cloud data at a first moment and a second moment, where the dynamic point cloud cluster set includes at least one dynamic point cloud cluster; and enabling a tracking and determination process in response to identifying the dynamic point cloud cluster set where, for each dynamic point cloud cluster, a data set of a dynamic point cloud cluster at each current moment following the second moment is updated in real time, and it is determined that an object represented by the dynamic point cloud cluster is a falling object in response to determining that the data meets a law of free fall.

Abstract: The present invention provides a matched filter circuit, which has a small circuit scale, and can save power. An after-stage section of the matched filter circuit has n hold circuit groups H21, H22, . . . H2n connected with an output signal Dout1 (i) of a pre-stage section in parallel, and the output of each hold circuit groups H21 to H2n is connected individually to each multiplier M21, M22, . . . M2n. Each multiplier multiplies the output of each hold circuit group H21 to H2m by each multiplier d21, d22, . . . d2m. The output of each multiplier circuit M21 to M2n is inputted to an adder circuit ADD2, and then, the total sum Dout2 (correlation output) is calculated.