US 11,814,155 B2
Control apparatus and control method for specular object detection based on an unmanned aerial vehicle's reflection
Masaki Handa, Tokyo (JP); Shinichiro Abe, Tokyo (JP); Masahiko Toyoshi, Tokyo (JP); Takuto Motoyama, Tokyo (JP); Shun Lee, Tokyo (JP); and Kenichiro Oi, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/297,082
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Nov. 26, 2019, PCT No. PCT/JP2019/046116
§ 371(c)(1), (2) Date May 26, 2021,
PCT Pub. No. WO2020/116232, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 2018-228570 (JP), filed on Dec. 5, 2018.
Prior Publication US 2022/0024560 A1, Jan. 27, 2022
Int. Cl. B64C 13/00 (2006.01); B64C 39/02 (2023.01); B64D 47/08 (2006.01); G01C 7/02 (2006.01); G05D 1/00 (2006.01); B64U 101/30 (2023.01)
CPC B64C 13/00 (2013.01) [B64C 39/02 (2013.01); B64D 47/08 (2013.01); G01C 7/02 (2013.01); G05D 1/00 (2013.01); B64U 2101/30 (2023.01); B64U 2201/00 (2023.01)] 12 Claims
OG exemplary drawing
 
1. A control apparatus, comprising:
a light emission control unit configured to control an emission pattern of a light-emitting unit that is arranged on a moving object;
an acquisition unit configured to acquire captured data in which an object around the moving object is captured by an imaging unit, wherein
the moving object receives light reflected from the object; and
a determination unit configured to determine that the object is an obstacle in a case where the captured data acquired by the acquisition unit includes a specific pattern, wherein in a case where the determination unit detects a first emission pattern while the light-emitting unit is not emitting light, the light emission control unit is further configured to cause the light-emitting unit to emit light with a second emission pattern that is different from the first emission pattern.