Monitoring device, monitoring method, and non-transitory computer-readable medium

Patent metadata

Field	Value
Publication number	US-2026087821-A1
Application number	US-202519321508-A
Country	US
Kind code	A1
Filing date	Sep 8, 2025
Priority date	Sep 25, 2024
Publication date	Mar 26, 2026
Grant date	—

Abstract

A monitoring device according to the present disclosure includes a division unit for dividing a three-dimensional space indicating point cloud data into at least one divided space, an observation unit for observing a feature amount of first point cloud data included in the divided space in a reference period and observing a feature amount of second point cloud data included in the divided space in an observation period, and a determination unit for determining, as an abnormal state, a first divided space in which a time during which a difference between the feature amount of the second point cloud data and the feature amount of the first point cloud data exceeds a first threshold value is longer than a second threshold value, in which the first divided space is included in the at least one divided space.

First claim

1 . A monitoring device comprising:
at least one memory storing instructions; and at least one processor configured to execute the instructions to: divide a three-dimensional space indicating point cloud data into at least one divided space; observe a feature amount of first point cloud data included in the divided space in a reference period and observing a feature amount of second point cloud data included in the divided space in an observation period; and determine, as an abnormal state, a first divided space in which a time during which a difference between the feature amount of the second point cloud data and the feature amount of the first point cloud data exceeds a first threshold value is longer than a second threshold value, wherein the first divided space is included in the at least one divided space.

2 . The monitoring device according to claim 1 , wherein the feature amount is a value related to number of points included in the divided space.

3 . The monitoring device according to claim 2 , wherein
the first threshold value is a value indicating a predetermined statistical spread of the number of points included in the divided space with respect to an elapse of time in the reference period; and the at least one processor of the first base station is further configured to execute the instructions to determine, as an abnormal state, the first divided space in which a time during which the number of points exceeds a value indicating the predetermined statistical spread is longer than the second threshold value in the observation period.

4 . The monitoring device according to claim 1 , wherein the feature amount is a value related to brightness indicated by a point included in the divided space.

5 . The monitoring device according to claim 4 , wherein
the first threshold value is a value indicating a predetermined statistical spread of the brightness of the points included in the divided space with respect to an elapse of time in the reference period; and the at least one processor of the first base station is further configured to execute the instructions to determine, as an abnormal state, the first divided space in which a time during which the brightness of the points exceeds a value indicating the predetermined statistical spread is longer than the second threshold value in the observation period.

6 . The monitoring device according to claim 1 , wherein the feature amount is a direction of a normal vector of a point included in the divided space.

7 . The monitoring device according to claim 6 , wherein
the first threshold value is a value indicating a predetermined statistical spread of an angle having, as a reference, a predetermined direction of a normal vector of a point included in the divided space with respect to an elapse of time in the reference period; and the at least one processor of the first base station is further configured to execute the instructions to determine, as an abnormal state, the first divided space in which a time during which a value indicating an angle of a point with respect to the predetermined direction in the observation period exceeds a value indicating the predetermined statistical spread is longer than the second threshold value.

8 . The monitoring device according to claim 1 , wherein a size of the divided space changes according to a distance from the observation point.

9 . A monitoring method comprising:
dividing a three-dimensional space indicating point cloud data into at least one divided space; observing a feature amount of first point cloud data included in the divided space in a reference period; observing a feature amount of second point cloud data included in the divided space in an observation period; and determining, as an abnormal state, a first divided space in which a time during which a difference between the feature amount of the second point cloud data and the feature amount of the first point cloud data exceeds a first threshold value is longer than a second threshold value, the first divided space being included in the at least one divided space.

10 . A non-transitory computer-readable medium storing a program for causing a computer to execute:
dividing a three-dimensional space indicating point cloud data into at least one divided space; observing a feature amount of first point cloud data included in the divided space in a reference period; observing a feature amount of second point cloud data included in the divided space in an observation period; and determining, as an abnormal state, a first divided space in which a time during which a difference between the feature amount of the second point cloud data and the feature amount of the first point cloud data exceeds a first threshold value is longer than a second threshold value, the first divided space being included in the at least one divided space.

Assignees

• Nec Corp

Inventors

• Ono Yoshimasa
• Abe Junichi
• Noguchi Hidemi
• Fujimoto Tatsuya

Classifications

• G01B11/24

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• G06V10/60

  relating to illumination properties, e.g. using a reflectance or lighting model · CPC title

• G08G1/164

  Centralised systems, e.g. external to vehicles · CPC title

• G01S17/894

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title

• G06V20/54 Primary

  of traffic, e.g. cars on the road, trains or boats · CPC title