Information processing device, information processing method, program, and recording medium

1 . An information processing device comprising:

a memory configured to store instructions; and

one or more processors configured to execute the instructions to:

receive reflected light corresponding to outgoing light and acquire a measurement data;

detect a pair of areas symmetry of the measurement data becomes a predetermined or more; and

estimate a height of a middle of the pair of areas as a height of a ground.

2 . The information processing device according to claim 1 , wherein the one or more processors detect a pair of areas at least symmetry of a reflection intensity of the measurement data becomes a predetermined or more.

3 . The information processing device according to claim 2 , wherein the one or more processors detect a plurality of areas in which the reflection intensity is equal to or greater than a predetermined value, and a pair of areas satisfying a range condition indicating that a pair in a vertical direction from the plurality of areas.

4 . The information processing device according to claim 3 ,

wherein the one or more processors acquire point cloud information including a position and reflection intensity for each measurement point as the measurement data;

wherein the one or more processors detect an area including a predetermined number or more measurement points reflection intensity is a predetermined value or more within a predetermined range as a mass area, and an upper mass area and a lower mass area to be a pair in the vertical direction as the pair of areas.

5 . The information processing device according to claim 4 , wherein the one or more processors determine a representative point of the upper mass area and a representative point of the lower mass area and detects the upper mass area and the lower mass area satisfying the range conditions as the pair of areas.

6 . The information processing device according to claim 1 , wherein the one or more processors calculate a difference between a height of a newly estimated ground and a height of a past ground and do not adopt the height of the newly estimated ground when the difference is equal to or more than a predetermined allowable difference value.

7 . The information processing device according to claim 2 ,

wherein the one or more processors acquire point cloud information including a position and reflection intensity for each measurement point as the measurement data; and

wherein the one or more processors are further configured to remove the measurement point located below the height of the ground among the measurement data.

8 . The information processing device according to claim 2 ,

wherein the one or more processors acquire point cloud information including a position and reflection intensity for each measurement point as the measurement data; and

wherein the one or more processors are further configured to detect an object using the measurement point located above the height of the ground among the measurement data.

9 . An information processing method executed by the information processing device comprising:

receiving reflected light corresponding to outgoing light and acquiring a measurement data;

detecting a pair of areas symmetry of the measurement data becomes a predetermined or more; and

estimating a height of a middle of the pair of areas as a height of a ground.

10 . A non-transitory computer-readable recording medium recording a program which causes a computer to execute processing of:

receiving reflected light corresponding to outgoing light and acquiring a measurement data;

detecting a pair of areas symmetry of the measurement data becomes a predetermined or more; and

estimating a height of a middle of the pair of areas as a height of a ground.