Abstract: A frequency modulated continuous wave (FMCW) light detection and ranging (LIDAR) system includes a processor and a memory. The memory stores instructions that, when executed by the processor, cause the system to: generate subbands in a frequency domain based on a range-dependent time domain baseband signal, classify each subband into a subband type, select processing parameters for each subband based on the respective subband type, and process each of the subbands using the selected processing parameters for the subband.

Abstract: A mobile robot can have a safety system that is configured to stop the mobile robot when an object is detected inside of a safety zone. The size of the safety zone can change based on the speed of the robot. The robot can predict future safety zones and determine whether objects would be inside of the predicted future safety zones. The robot can change its trajectory, such as by slowing down, so that the actual safety zone of the robot avoids the object. Accordingly, the mobile robot can avoid the object without stopping and without triggering the safety system of the robot. The mobile robot is configured to look ahead and predict likely safety events, and then take action to avoid the predicted safety events.

Abstract: Provided are methods, systems, and computer program products for bidirectional path optimization in a grid. An example method may include: receiving vehicle environment data associated with an environment of a vehicle; determining an occupancy map of the environment using the vehicle environment data, the occupancy map identifying at least one obstacle in the environment; generating a reference path to a destination location for the vehicle; determining a travel path to an intermediate location in the occupancy map based at least in part on the reference path and a longitudinal direction variable, wherein the intermediate location is proximate a point on the reference path; and generating actuation commands for the vehicle based at least in part on the travel path.

Abstract: Systems and methods for determining an indication of locationing accuracy are disclosed herein. In some embodiments, an antenna deployment including multiple antennas and corresponding locations for the antennas is obtained. Then, one or more radio characteristics are determined for ubiety locations based on the antenna deployment and an indication of locationing accuracy for the ubiety locations is determined based on the one or more radio characteristics. In this way, an antenna deployment can be evaluated for locationing accuracy. This may be used by a network engineer or an automated system to determine and/or refine an antenna deployment.

Abstract: One or more radar sensors can be used to monitor patients in a variety of different environments and embodiments. In one embodiment, radar sensors can be used to monitor a patient's breathing, including monitoring of tidal volume, chest expansion distance, breathing rate, etc. In another embodiment, a patient position can be monitored in a patient bed, which can be used as feedback for control of bladders of a patient bed. Additional embodiments are described herein.

Abstract: A method for increasing a quality of sampled receive signals includes: generating a plurality of sampling signal repetition rates with a running variable; determining a receive signal repetition rate associated with each of the sampling signal repetition rates; generating a receive signal sequence consisting of the receive signals; generating a sampling signal sequence consisting of the sampling signals; generating a mixed signal sequence; low-pass filtering the mixed signal sequence; determining a quality indicator of the low-pass filtered mixed signal sequence; selecting a quality indicator which exceeds a predetermined quality threshold from the determined quality indicators; and using the sampling signal repetition rate and the receive signal repetition rate associated therewith. A related measuring device is also disclosed.

Abstract: A personal golfing assistant system is comprised of software running on a PDA attached directly or remotely to a GPS receiver that enables the user to survey and/or electronically capture geophysical golf data. A handheld device connected to or integrated with a GPS receiver can instead be used. Software allows a golfer to use a handheld PDA/GPS unit during the course of play to mark a ball location automatically and/or determine the distance to golf course targets and/or objects, and to analyze golf related data and generate statistics. The system can send a set of parameters tailored for a specific course to a real time tunable GPS to adjust for optimal performance and can adjust measurements to compensate for environmental condition changes.

Abstract: An aircraft passenger service unit includes infrared sensor configured for detecting infrared radiation and for providing a corresponding sensor output, and a controller, which is configured for receiving and evaluating the sensor output provided by the infrared sensor. The infrared sensor is an infrared sensor array configured for detecting infrared radiation emitted within a plurality of spatial sectors covering a detection area below the aircraft passenger service unit; and the infrared sensor array is configured for detecting the infrared radiation individually for each spatial sector and for providing individual sensor signals for the plurality of spatial sectors. The infrared sensor array is configured such that each passenger seat arranged within the detection area is covered by at least two of the plurality of spatial sectors, respectively; and the controller is configured for determining a passenger seating position within a passenger seat from the individual sensor signals.

Abstract: Ranging and detection data is processed to identify or correct for multipath reflection. A sensor point that represents a location of an object, the location based on an incidence of an electromagnetic wave received at a sensor is obtained. The first sensor point is determined to be a product of multipath reflection. A first point of reflection on a surface of a surface model is determined. The location of the first sensor point is corrected based on the first point of reflection on the surface of the surface model.

Abstract: System, methods, and other embodiments described herein relate to an improved camera system including directional optics to estimate depth of grayscale images. In one embodiment, the camera system includes a lens that receives light associated with a scene and an inverter that inverts the light from the lens. The camera system also includes a metasurface that resolves an angle of the light from the inverter according to parameters of the metasurface. The camera system also includes a detector that senses the light from the metasurface to form image data by integrating intensity of the light per pixel to estimate depth of an object in the scene.

Abstract: A projector and a projection method are provided. The projector includes a control device, a projection optical engine, a distance sensing device, and an image capturing device. The projection optical engine projects a first projection image to a projection surface according to first image data. The distance sensing device senses multiple distance parameters of a projection area. The image capturing device captures the first projection image to obtain a first captured image. The control device performs a keystone correction operation and a leveling correction operation on the first image data. The projection optical engine projects a second projection image to the projection surface according to the corrected first image data. The control device obtains a second captured image including the second projection image through the image capturing device, and analyzes the second captured image to project current projection image size information in the second projection image.

Abstract: The present disclosure describes a method and apparatus for enabling an imaging sensor to perform Time-of-Flight measurements while requiring less histogram memory and in many cases less power consumption. A light source is operated to cause multiple light emissions and a coarse/estimated distance is determined based on a first echo received based on the first light emission. A histogram is saved and a fine distance is calculated from the coarse distance and data derived from the echo of a second light emission.

Abstract: A navigational system and method for guiding a boat onto a trailer, which comprises at least one marker mounted on the trailer; a camera located on the boat to assist the system with determining a longitudinal axis of the boat, and generating images of at least a front area of the boat and the at least one marker; an image processing unit for 1) receiving and processing the images to determine the at least one marker, 2) estimating the longitudinal axis of the trailer, 3) generating a desired boat trajectory for aligning the longitudinal axis of the boat with the longitudinal axis of the trailer; and 4) periodically generating guidance output commands to the user to assist the user with following the desired boat trajectory and facilitate loading of the boat on the trailer; and an image display for sequentially displaying the generated images of the camera to a user.

Abstract: A method of determining the draft of a vessel comprising the steps of: measuring the draft of the vessel using at least one optical imaging device to provide optical draft measurement data; measuring the draft of the vessel using elevation data provided by at least one GNSS or GPS device so as to provide elevation draft measurement data; and using the elevation draft measurement data and the optical draft measurement data to determine the draft of the vessel.

Abstract: A distance sensor according to an embodiment of the present disclosure includes: a controller that instructs a light source section to emit a first light pulse; a light receiver that includes a photodiode which causes a signal charge to be generated by receiving a first reflected light pulse corresponding to the first light pulse, and generates a light reception signal by storing the signal charge and converting the signal charge into a voltage; a signal change detector that performs a first detection operation of detecting a first signal change corresponding to the first reflected light pulse in the light reception signal; and a time measurement section that performs, on a basis of the first signal change, a first measurement operation of measuring a first time interval from an emission timing of the first light pulse in the light source section to a reception timing of the first reflected light pulse in the light receiver.

Abstract: A method for classifying an object in a point cloud includes computing first and second classification statistics for one or more points in the point cloud. Closest matches are determined between the first and second classification statistics and a respective one of a set of first and second classification statistics corresponding to a set of N classes of a respective first and second classifier, to estimate the object is in a respective first and second class. If the first class does not correspond to the second class, a closest fit is performed between the point cloud and model point clouds for only the first and second classes of a third classifier. The object is assigned to the first or second class, based on the closest fit within near real time of receiving the 3D point cloud. A device is operated based on the assigned object class.

Abstract: Systems and methods for detecting and classifying objects proximate to an autonomous vehicle can include a sensor system and a vehicle computing system. The sensor system includes at least one LIDAR system configured to transmit ranging signals relative to the autonomous vehicle and to generate LIDAR data. The vehicle computing system receives the LIDAR data from the sensor system. The vehicle computing system also determines at least a range-view representation of the LIDAR data and a top-view representation of the LIDAR data, wherein the range-view representation contains a fewer number of total data points than the top-view representation. The vehicle computing system further detects objects of interest in the range-view representation of the LIDAR data and generates a bounding shape for each of the detected objects of interest in the top-view representation of the LIDAR data.

Abstract: One or more radar sensors can be used to monitor patients in a variety of different environments and embodiments. In one embodiment, radar sensors can be used to monitor a patient's breathing, including monitoring of tidal volume, chest expansion distance, breathing rate, etc. In another embodiment, a patient position can be monitored in a patient bed, which can be used as feedback for control of bladders of a patient bed. Additional embodiments are described herein.

Abstract: A vehicular trailer angle detection system includes a rear camera, a left-side camera, a right-side camera and a control having an image processor. With a trailer hitched at a vehicle, and while the vehicle is driven in a forward direction and towing the trailer, image data is captured by at least one of the cameras. The vehicular trailer angle detection system determines an expected location of the portion of the trailer based on provided vehicle-trailer parameters as the vehicle is driven forward and towing the trailer. The vehicular trailer angle detection system determines an actual location of the portion of the trailer via processing of captured image data as the vehicle is driven forward and towing the trailer. Responsive to an offset between the determined actual location of the portion of the trailer and the determined expected location, the vehicular trailer angle detection system accommodates the offset.

Abstract: A system for classifying pulses from a sensor configured to detect one or more objects includes a processor and a memory in communication with the processor. The memory has a pulse classification module having instructions that, when executed by the processor, cause the processor to obtain a signal having a pulse and classify the pulse as one of: (1) a single object pulse indicating that the one or more objects represented by the pulse is a single object and (2) a plurality of objects pulse indicating that the one or more objects represented by the pulse are multiple objects. The classification of the pulse may utilize one or more of the following: a pulse width of the pulse, a rising slope of the pulse during a rising period, a falling slope of the pulse during a falling period, and a saturating width of the pulse.

Abstract: The disclosure relates to a method for estimating a maximum safe articulation angle (?lim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (?lim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (?) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (?lim) when the articulation angle (?) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (?lim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.

Abstract: A method for wireless detection of a subject rising from a rest state includes producing transmitted wireless signals from one or more transmitting antennas, receiving reflected wireless signals at one or more receiving antennas, and processing the reflected wireless signals in a computer. The computer iteratively aligns candidate trajectories with a template trajectory until the current and previous template trajectories are within a predetermined distance from each other. A final template trajectory is used to determine a lying-down surface exit initiation area, a lying-down surface exit initiation area exit time, a TUG plane or radius entry time, and a TUG time.

Abstract: A personal golfing assistant system is comprised of software running on a PDA attached directly or remotely to a GPS receiver that enables the user to survey and/or electronically capture geophysical golf data. A handheld device connected to or integrated with a GPS receiver can instead be used. Software allows a golfer to use a handheld PDA/GPS unit during the course of play to mark a ball location automatically and/or determine the distance to golf course targets and/or objects, and to analyze golf related data and generate statistics. The system can send a set of parameters tailored for a specific course to a real time tunable GPS to adjust for optimal performance and can adjust measurements to compensate for environmental condition changes.

Abstract: Provided is a robot, including: a chassis; a set of wheels coupled to the chassis; at least one motor for driving the set of wheels; at least one motor controller; a range finding system coupled to the robot; a plurality of sensors; a processor; and a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor effectuates operations including: obtaining, with the processor, distances to obstacles measured by the range finding system as the robot moves relative to the obstacles; monitoring, with the processor, the distance measurements; identifying, with the processor, outlier distance measurements in otherwise steadily fitting distance measurements; determining, with the processor, a depth of an obstacle based on the distance measurements; and determining, with the processor, a position of the obstacle based on the distance measurements.

Abstract: A frequency modulated continuous wave (FMCW) light detection and ranging (LIDAR) system includes a processor and a memory. The memory stores instructions that, when executed by the processor, cause the system to: receive samples of a range-dependent time domain baseband signal; assemble the samples into sample blocks in the time domain; convert the sample blocks from the time domain to the frequency domain; generate subbands in the frequency domain from converted sample blocks; classify the subbands into a plurality of subband types based on subband typing criteria; select subband processing parameters for each of the subbands based on respective ones of the plurality of subband types; and process each of the subbands using the selected subband processing parameters for the subband.

Abstract: A method for alerting a user on an electronic device is described. The method includes identifying a signal at an ultrasound transmission frequency received at a first electronic device from a second electronic device. Further, the method includes receiving timing information corresponding to an exchange of an ultrasound transmission between the first electronic device and the second electronic device. Furthermore, a first distance value between the first electronic device and the second electronic device is computed by performing a time of flight estimation using the timing information. Furthermore, the first distance value is refined by using an output of a machine learning model to determine a second distance value. Furthermore, the method includes generating an alert based on the comparison of the second distance value with a predefined threshold distance value. In some examples, the alert can be indicative of a violation of a physical distancing norm in an environment.

Abstract: The present invention is to provide a distance measuring device capable of distinguishing between a reflection from fog or the like and a reflection from an actually existing object in an environment such as fog.

Abstract: A first computing device is configured to broadcast a first audio token comprising a first identifier over a first audio frequency channel, activate a first microphone component, and receive a first audio response token generated by a second computing device via the first audio frequency channel. A second computing device is configured to receive an input indicating a request to receive data, activate the second microphone component, receive the first audio token over the first audio frequency channel, receive one or more other audio tokens over one or more other audio frequency channels, determine that the received first audio token comprises a valid audio token, restrict the range of received audio inputs to comprise only the first audio frequency channel, generate the first audio response token, and communicate the first audio response token to the first computing device via the first audio frequency channel.

Abstract: Distance ambiguities arising from indirect time-of-flight (ToF) measurements are resolved by using additional information from two or more coded-modulation measurements. An indirect ToF measurement is performed for a pixel of an image processor, to obtain a value indicative of an apparent distance to an imaged object or scene. First and second coded-modulation measurements are also performed, using respective combination of modulation code and reference signals, such that correlation peaks corresponding to these measurements overlap and cover respective first and second adjoining ranges of distances to imaged objects. First and second mask values are determined from the correlation values obtained from the coded-modulation measurements and are used to determine whether the value indicating the apparent distance indicates an actual distance within the first range of distances or within the second range of distances.

Abstract: Various wireless power transmission systems are provided for sensing an environment, e.g., using a neural network. For instance, phase information corresponding to wireless power transmission is input into a neural network framework, and then, distance information representative of a distance from a wireless power transmitter to an object is obtained as output from the neural network framework. Based on the distance information, a power of a subsequent wireless power transmission can be modified, or an environment comprising the object can be mapped.

Abstract: A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.

Abstract: In various example embodiments, devices, systems, and methods for a waist measuring belt are provided. An example waist measuring belt is made up of a belt buckle frame with attachments for a belt strap. The belt further includes a position measuring module coupled to the belt buckle frame that measures an attachment position of a second end of the belt strap to the belt buckle frame. The belt also includes a tension measuring module coupled to the belt buckle frame that measures a tension through the belt buckle frame and the belt strap. A memory and a wireless communication module attached to the belt may be used to store measurements and communicate with a mobile device or server. In various embodiments, estimated user waist sizes over time using measured values and belt-specific data may be used to estimate a user's waist size and generate a waist size history.

Abstract: Systems and methods are disclosed herein for navigating an operator of a self-propelled vehicle for coupling with an attachment implement therefor. Each one of a first set of sensing elements arranged on the vehicle coupler forms a sensing pair with a respective one of a set of second sensing elements arranged on the attachment implement. Indicia for each of the sensing pairs on a user interface is displayed to the operator, corresponding to a three-dimensional spatial orientation of the first and second sensing elements with respect to each other. The user interface may comprise respective portions for each sensing pair, each portion comprising an indicator dynamically adjusted in a crosshair corresponding to first and second dimensions of alignment of the corresponding sensing elements with respect to each other, and the indicator in each portion further dynamically adjusted in appearance corresponding to a third dimension of distance between the corresponding sensing elements.

Abstract: Techniques are described for using multiple devices to automatically determine the acquisition location of an image from a camera device, such as within a building interior and by using data from the multiple devices (e.g., visual data from the camera device's image, and additional data captured by a separate mobile computing device in the same area as the camera device), and for subsequently using determined image acquisition location information in one or more further automated manners. The image may be a panorama image or of another type, and the determined acquisition location for such an image may be at least a location on the building's floor plan—in addition, the automated image acquisition location determination may be further performed without having or using information from any depth sensors or other distance-measuring devices about distances from an image's acquisition location to walls or other objects in the surrounding building.

Abstract: Provided are an electronic device for performing ranging using a ultra-wide band (UWB) communication method and an operation method of the electronic device. An operation method of a first electronic device includes transmitting a connection start message related to a second communication method to a second electronic device by using a first communication method, transmitting an initial connection message by using the second communication method, receiving a ranging start message from the second electronic device, and performing ranging with respect to the second electronic device by using the second communication method.

Abstract: A time of flight (ToF) system includes a light source, a photosensor, a signal generator and a processor. The signal generator outputs a reference signal corresponding to a modulation function for modulated light and a modified transmitted light signal corresponding to a phase shift of the reference signal. The light source outputs the modified transmitted light signal and pixels in the photosensor receives its reflections off the scene. The reference signal is applied to the pixels and the processor determines a depth map for the scene based on values recorded by the pixels. In some examples, the phase shift is implemented using a phase locked loop controller. One or more component phases of the phase shift and an exposure time for each component phase are determined and output by the phase locked loop controller.

Abstract: A method for classifying an object in a point cloud includes computing first and second classification statistics for one or more points in the point cloud. Closest matches are determined between the first and second classification statistics and a respective one of a set of first and second classification statistics corresponding to a set of N classes of a respective first and second classifier, to estimate the object is in a respective first and second class. If the first class does not correspond to the second class, a closest fit is performed between the point cloud and model point clouds for only the first and second classes of a third classifier. The object is assigned to the first or second class, based on the closest fit within near real time of receiving the 3D point cloud. A device is operated based on the assigned object class.

Abstract: A LIDAR device for detecting an object in the surroundings, including at least one transmitter for emitting electromagnetic radiation into the surroundings; at least one rotating deflection unit for deflecting the emitted electromagnetic radiation; at least one detection lens system for receiving electromagnetic radiation which has been reflected by the object in the surroundings, and for directing the received electromagnetic radiation at a first detector unit; at least one second detector unit; and at least one diffractive optical element. The at least one diffractive optical element includes at least one first diffraction area and at least one second diffraction area, an at least first diffraction efficiency assigned to the at least first diffraction area being different from an at least second diffraction efficiency assigned to the at least second diffraction area.

Abstract: A pulsed-light detection and ranging apparatus comprises an optical detector arranged to generate, when in use, time-series data in response to an optical pulse incident thereupon. A processing resource is also provided and arranged to support a pulse analyser (132). The pulse analyser (132) is arranged to identify (134) an inflection point of a pulse described by the time-series data. The pulse analyser (132) is further arranged to calculate (138) a distance based upon determined inflection point relative to a time axis associated with the time-series data.

Abstract: In one embodiment, a method includes receiving first Light Detection and Ranging (LiDAR) data associated with a railroad environment, extracting an asset from the first LiDAR data associated with the railroad environment, and superimposing the asset into a spatial model. The method also includes receiving a field indication associated with a modification to the railroad environment and modifying the spatial model in response to receiving the field indication associated with the modification to the railroad environment. The method further includes receiving second LiDAR data associated with the railroad environment and comparing the second LiDAR data to the modified spatial model.

Abstract: A multi-sensor spatial data auto-synchronization system and method is provided. The method may include collecting laser point cloud data through a laser radar and pre-processing the laser point cloud data; collecting image point cloud data through a monocular camera and collecting intrinsic parameters of the camera by using a calibration board; performing plane fitting on the pre-processed laser point cloud data to determine coordinates of fitted laser point cloud data; performing image feature extraction on the image point cloud data; calculating pose transformation matrices for the laser point cloud data coordinates and an image feature data result by using a PNP algorithm; and optimizing a rotation vector and a translation vector in the pose transformation matrix. The present invention achieves automatic calculation of a spatial synchronization relationship between two sensors, and greatly improves the data synchronization precision of the laser radar and the monocular camera.

Abstract: A vehicle that includes at least two LIDAR systems can process data from the two LIDAR systems in an interleaved manner such that data from only one of the two LIDAR systems during a given time period is processed, thereby reducing the computational load on a data processing system in the vehicle. For example, the data processing system can receive and process first LIDAR data captured by a first LIDAR system during a first time period and then receive and process second LIDAR data captured by a second LIDAR system during a second time period that follows the first time period; the data processing system, in one embodiment, does not process data from the second LIDAR system if available and captured by the second LIDAR system during the first time period.

Abstract: A digital signal processing circuit measures a distance according to a plurality of modulation frequencies including a first modulation frequency and a second modulation frequency lower than the first modulation frequency. The digital signal processing circuit is configured such that, when measuring the distance at the first modulation frequency, a storage capacitance of a light receiving element 6 stores or discharges electric charges according to the timing when the polarity of a phase is controlled by a light emission control unit at each transmission of a sub sequence and the distance is measured according to the electric charges stored in the storage capacitance. The digital signal processing circuit corrects the distance measurement result based on the measurement result at the first modulation frequency and the measurement result at the second modulation frequency.

Abstract: The light control device is installed in a movable body, and comprises a light transmission/reception unit including an emission unit and a light receiving unit. The emission unit emits a light, and the light receiving unit receives the light reflected by an object around the movable body. The control unit controls the emission unit to continuously shift the light emitted by the emission unit in a first direction and a second direction crossing the first direction such that a transition locus of the light emitted by the emission unit becomes helical.

Abstract: A system and method for determining an Angle of Arrival (AOA) for frequency modulated communications. The system may include first and second antennas spaced apart from each other by a distance, and configured to receive wireless communications in the form of a frequency modulated signal. The system may determine a phase difference between the received signals irrespective of the modulations in the signal, thereby facilitating determining an AOA.

Abstract: Techniques are described for using multiple devices to automatically determine the acquisition location of an image from a camera device, such as within a building interior and by using data from the multiple devices (e.g., visual data from the camera device's image, and additional data captured by a separate mobile computing device in the same area as the camera device), and for subsequently using determined image acquisition location information in one or more further automated manners. The image may be a panorama image or of another type, and the determined acquisition location for such an image may be at least a location on the building's floor plan—in addition, the automated image acquisition location determination may be further performed without having or using information from any depth sensors or other distance-measuring devices about distances from an image's acquisition location to walls or other objects in the surrounding building.

Abstract: Methods and apparatus for enhanced visualization of anomalies in a structure. The method comprises: acquiring pulse-echo laser ultrasonic wave propagation imaging video data at a multiplicity of points in a scan area on a surface of a structure; post-processing the pulse-echo laser ultrasonic wave propagation imaging video data using multiple-time window amplitude mapping to create a multiple-time window amplitude map; and displaying the multiple-time window amplitude map on a graphical user interface.

Abstract: A system for linking information of a point of interest to a position within an image of the location may include a portable device structured to determine a position of the point of interest in the image when the portable device is present within the location depicted by the image; an accessory operably coupled to the portable device and comprising a tool structured to provide information related to the point of interest; a processor operably coupled to the portable device and configured to create a data structure linking the information with the position of the point of interest; and a storage structured to store the data structure.

Abstract: The light control device emits a light from the emission unit, and receives the light reflected by an object by the light receiving unit. The acquisition unit acquires inclination information related to an inclination of the movable body, and the controller controls an emission direction of the light emitted by the emission unit based on the inclination information.

Abstract: The present invention provides a method for identifying noise data of a laser ranging device. An n number of measurement points P(i), P(i?1) and P(i+1) corresponding to an n number of projection lines that are adjacent to each other are extracted from a plurality of measurement points at which distances have been measured by a laser ranging device 1. An approximate straight line L(i) that passes through the n number of measurement points is calculated. A degree of inclination e(i) of the approximate straight line L(i) with respect to the representative line among the projection lines corresponding to the n number of measurement points is determined. If the degree of inclination is smaller than a predetermined threshold value, then the measurement data on a measurement point having a largest distance measurement value among the n number of measurement points is identified as noise data.