Moving body detection device, moving body detection method, program, and storage medium

Abstract

To detect movement of a moving body to the back of an object.SOLUTION: A moving body detection device includes: a measurement data acquisition section for acquiring first measurement data that are generated by analyzing reflection waves of electromagnetic waves applied to an object area and show a three-dimensional distribution of reflection points of electromagnetic waves at first timing, and second measurement data at second timing later than the first timing; a measurement data analysis section that generates first analysis data capable of locating a position of a moving body when the moving body is located in an object area at the first timing by processing the first measurement data, and generates second analysis data by processing the second measurement data; and a non-measurement area processing section for detecting a moving body estimated to be located in a non-measurement area at the second timing by using non-measurement area location information capable of locating a non-measurement area that is an area not reached by electromagnetic waves in the object area, the first analysis data, and the second analysis data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a moving object detection device, a moving object detection method, a program, and a storage medium.

Background Art

[0002] In recent years, while irradiating electromagnetic waves such as light, the reflected waves of the electromagnetic waves are analyzed to detect objects, people, etc. This method is often used to assist in the automatic driving of vehicles, for example, as described in Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When detecting a moving object such as a person by analyzing the reflected wave of an electromagnetic wave, if the moving object moves to the back side of the object, the reflected wave caused by the moving object cannot be obtained, and thus the moving object cannot be detected.

[0005] An example of the problem to be solved by the present invention is to detect that a moving object has moved to the back side of an object.

Means for Solving the Problems

[0006] The invention according to claim 1 is generated by analyzing the reflected wave of the electromagnetic wave irradiated on the target area, and includes first measurement data indicating the three-dimensional distribution of the reflection points of the electromagnetic wave at a first timing, and second measurement data indicating the three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing after the first timing. A measurement data acquisition unit that acquires the data; By processing the first measurement data, first analysis data capable of specifying the position of the moving object when the moving object was in the target area at the first timing is generated, and by processing the second measurement data, second analysis data capable of specifying the position of the moving object when the moving object was in the target area at the second timing is generated. A measurement data analysis unit; Using non-measurement area specifying information capable of specifying a non-measurement area, which is an area in the target area where the electromagnetic wave is not supposed to reach, the first analysis data, and the second analysis data, a non-measurement area processing unit that detects a moving object estimated to be located in the non-measurement area at the second timing; A moving object detection device comprising:

[0007] The invention according to claim 8 is such that a computer Obtains first measurement data generated by analyzing the reflected wave of the electromagnetic wave irradiated on the target area and indicating the three-dimensional distribution of the reflection points of the electromagnetic wave at the first timing, and second measurement data indicating the three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing after the first timing, By processing the first measurement data, first analysis data capable of specifying the position of the moving object when the moving object was in the target area at the first timing is generated, and by processing the second measurement data, second analysis data capable of specifying the position of the moving object when the moving object was in the target area at the second timing is generated. Using non-measurement area specifying information capable of specifying a non-measurement area, which is an area in the target area where the electromagnetic wave is not supposed to reach, the first analysis data, and the second analysis data, a moving object detection method for detecting a moving object estimated to be located in the non-measurement area at the second timing.

[0008] The invention according to claim 9 is for a computer Function to obtain first measurement data generated by analyzing the reflected wave of the electromagnetic wave irradiated on the target area, showing the three-dimensional distribution of the reflection points of the electromagnetic wave at the first timing, and second measurement data showing the three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing after the first timing. Function to generate first analysis data that can identify the position of the moving object when the moving object was in the target area at the first timing by processing the first measurement data, and to generate second analysis data that can identify the position of the moving object when the moving object was in the target area at the second timing by processing the second measurement data. Function to detect a moving object estimated to be located in the non-measured area at the second timing using non-measured area identification information that can identify a non-measured area, which is an area in the target area where the electromagnetic wave is considered not to reach, the first analysis data, and the second analysis data. It is a program having the above functions. The invention according to claim 10 is a storage medium storing the above program.

Brief Description of Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0011] FIG. 1 is a diagram for explaining the usage environment of the moving body detection device 20 according to the embodiment. The moving body detection device 20 is a device that processes the analysis data generated by the reflection data generation device 10.

[0012] The reflection data generation device 10 is, for example, a LiDAR (Light Detection and Ranging), and has an electromagnetic wave irradiation unit, a reception unit, and an analysis unit. The irradiation unit irradiates while scanning an electromagnetic wave (for example, infrared rays or near-infrared rays (for example, having a wavelength of 905 nm)). However, when the reflection data generation device 10 is a so-called three-dimensional flash LiDAR, the irradiation unit does not scan when irradiating the electromagnetic wave. The reception unit receives the reflected wave of the electromagnetic wave irradiated by the irradiation unit. The analysis unit uses the irradiation direction and irradiation timing of the electromagnetic wave by the irradiation unit, and the reception timing of the reflected wave by the reception unit to generate data (hereinafter referred to as measurement data) indicating the three-dimensional distribution of the reflection points. This measurement data shows the distance from the reception unit of the reflection data generation device 10 to the reflection points for each irradiation direction of the electromagnetic wave. Further, this measurement data also includes data indicating the intensity of the reflected wave for each irradiation direction of the electromagnetic wave.

[0013] In the present embodiment, the reflection data generation device 10 is fixed to a stationary object. Therefore, the range within which the reflection data generation device 10 can scan the electromagnetic wave does not change. Therefore, when there is no change in the target area to be scanned by the electromagnetic wave, neither the three-dimensional distribution of the reflection points nor the intensity of the reflected wave of each of the plurality of reflection points changes.

[0014] Note that the reflection data generation device 10 uses, for example, the inside of a facility (for example, the inside of a building) as the target area to be irradiated with the electromagnetic wave. In this case, the reflection data generation device 10 is fixed to the wall or ceiling of the facility. Then, the reflection data generation device 10 outputs the generated measurement data to the moving body detection device 20.

[0015] Note that the reflection data generation device 10 may output data indicating the irradiation direction and irradiation timing of the electromagnetic wave by the irradiation unit, as well as the reception timing of the reflected wave by the reception unit, to the moving body detection device 20. In this case, the moving body detection device 20 generates the above-described measurement data by processing the data acquired from the reflection data generation device 10. Note that the data output from the reflection data generation device 10 to the moving body detection device 20 may include the intensity of each reflected wave.

[0016] The reflection data generation device 10 irradiates the target area with repeated electromagnetic waves. And each time the reflection data generation device 10 irradiates the electromagnetic wave, it generates measurement data.

[0017] Then, the moving body detection device 20 detects the moving body 40 existing in the target area by processing the above-described measurement data. Here, when an object 30 (for example, a shelf, a desk, and a partition, etc.) is installed in the target area, the electromagnetic wave does not reach the area located behind the object 30 as viewed from the reflection data generation device 10, that is, the area hidden by the object 30 (hereinafter, referred to as a non-measurement area). For this reason, if the moving body 40 moves to the non-measurement area, the reflected wave from the moving body 40 cannot be obtained. On the other hand, the moving body detection device 20 estimates that the moving body 40 is located in the non-measurement area by processing the measurement data. Note that the non-measurement area can also be said to be an area in the target area where it is estimated that the electromagnetic wave does not reach.

[0018] FIG. 2 is a diagram showing an example of the functional configuration of the moving body detection device 20. The moving body detection device 20 shown in this figure has a measurement data acquisition unit 210, a measurement data analysis unit 220, and a non-measurement area processing unit 230.

[0019] The measurement data acquisition unit 210 acquires the measurement data generated by the reflection data generation device 10. As described above, the reflection data generation device 10 repeatedly generates measurement data. And the measurement data acquisition unit 210 acquires these plural pieces of measurement data.

[0020] The measurement data analysis unit 220 generates analysis data by analyzing the measurement data acquired by the measurement data acquisition unit 210. The analysis data is data that can identify the position of the moving object when there is a moving object in the target area, for example, data indicating the position of the moving object 40 existing in the target area. The measurement data analysis unit 220 generates one analysis data for one measurement data. Hereinafter, the analysis data corresponding to the measurement data (first measurement data) generated at the first timing is referred to as first analysis data, and the analysis data corresponding to the measurement data (second measurement data) generated at the second timing after the first timing is referred to as second analysis data.

[0021] The non-measurement area processing unit 230 detects a moving object estimated to be located in the non-measurement area at the second timing using the non-measurement area identification information that can identify the above-described non-measurement area, the first analysis data, and the second analysis data. Details of the processing performed by the non-measurement area processing unit 230 will be described later with reference to other figures.

[0022] Note that the non-measurement area identification information is stored in the data storage unit 212. The non-measurement area identification information may be three-dimensional information indicating the position of the non-measurement area, or may be two-dimensional information indicating the position of the non-measurement area in a top view (plan view). The non-measurement area identification information may be generated by analyzing measurement data, or may be generated by processing a building design drawing or layout drawing. Further, the non-measurement area information may be data indicating the three-dimensional distribution of reflection points caused by the object 30 (that is, data indicating the position and shape of the object 30). When there are a plurality of non-measurement areas, the data storage unit 212 stores a plurality of non-measurement area identification information. Note that the data storage unit 212 may store other data, for example, measurement data generated by the reflection data generation device 10 or analysis data generated by the moving object detection device 20.

[0023] Furthermore, the data storage unit 212 stores data necessary for detecting the moving body 40, for example, measurement data (hereinafter referred to as reference data) generated by the reflection data generation device 10 in a state where the object 30 exists but the moving body 40 does not exist. As described above, the reflection data generation device 10 is fixed to a stationary object. Therefore, when there is no change in the target area scanned by the electromagnetic wave, neither the three-dimensional distribution of the reflection points nor the intensity of the reflected wave of each of the plurality of reflection points changes. Therefore, the non-measurement area processing unit 230 can identify the presence or absence of the moving body 40 and the position of the moving body 40 by detecting the difference between the measurement data and the reference data. Note that this difference indicates, for example, the three-dimensional distribution of the reflection points corresponding to the moving body 40.

[0024] In the example shown in this figure, the data storage unit 212 is part of the moving body detection device 20. However, the data storage unit 212 may be located outside the moving body detection device 20.

[0025] FIG. 3 is a diagram showing a hardware configuration example of the moving body detection device 20. The moving body detection device 20 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.

[0026] The bus 1010 is a data transmission path for the processor 1020, the memory 1030, the storage device 1040, the input / output interface 1050, and the network interface 1060 to transmit and receive data to and from each other. However, the method of connecting the processor 1020 and the like to each other is not limited to bus connection.

[0027] The processor 1020 is a processor realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like.

[0028] The memory 1030 is a main storage device realized by a RAM (Random Access Memory) or the like.

[0029] The storage device 1040 is an auxiliary storage device realized by, for example, a HDD (Hard Disk Drive), an SSD (Solid State Drive), a memory card, or a ROM (Read Only Memory). The storage device 1040 stores program modules that implement the respective functions of the mobile object detection device 20 (for example, the measurement data acquisition unit 210, the measurement data analysis unit 220, and the non-measurement area processing unit 230). By the processor 1020 loading and executing these respective program modules onto the memory 1030, the respective functions corresponding to the program modules are realized. Further, the storage device 1040 also functions as the data storage unit 212.

[0030] The input / output interface 1050 is an interface for connecting the mobile object detection device 20 and various input / output devices (for example, the reflection data generation device 10).

[0031] The network interface 1060 is an interface for connecting the mobile object detection device 20 to a network. This network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The method by which the network interface 1060 connects to the network may be a wireless connection or a wired connection. Note that the mobile object detection device 20 may be connected to the reflection data generation device 10 via the network interface 1060.

[0032] FIG. 4 is a flowchart for explaining an example of the processing performed by the moving body detection device 20. First, the non-measurement area processing unit 230 of the moving body detection device 20 reads out non-measurement area specific information and reference data from the data storage unit 212 (step S10). Next, the measurement data acquisition unit 210, the measurement data analysis unit 220, and the non-measurement area processing unit 230 repeatedly perform the processing shown in steps S20 to S60. In the flowchart shown in this figure, by the processing shown in step S60, the data storage unit 212 stores the analysis data generated so far, that is, the data indicating the position of the moving body 40 existing in the target area. This data shows the three-dimensional distribution of the reflection points corresponding to the moving body 40.

[0033] As described above, the reflection data generation device 10 repeatedly irradiates the target area with electromagnetic waves to generate measurement data. The measurement data acquisition unit 210 of the moving body detection device 20 repeatedly acquires the measurement data generated by the reflection data generation device 10 (step S20). Next, the measurement data analysis unit 220 generates analysis data (second analysis data) using the measurement data acquired in step S20 and the reference data acquired in step S10. As described above, this analysis data indicates the presence or absence of the moving body 40, and also indicates the position of the moving body 40 when the moving body 40 exists. For example, the measurement data analysis unit 220 specifies the three-dimensional distribution of the reflection points corresponding to the moving body 40, and sets the data indicating the specified three-dimensional distribution as the analysis data (step S30).

[0034] Next, the non-measured area processing unit 230 determines the presence or absence of the moving object 40 located in the non-measured area (step S40). Details of this process will be described later with reference to FIG. 5. Then, the non-measured area processing unit 230 generates display data indicating the position of the moving object 40, and causes the display device to display this display data. For example, the non-measured area processing unit 230 causes the reflection point corresponding to the moving object 40 to be displayed in a manner different from other reflection points. Here, an example of "a different manner" is to make at least one of color, shape, and size different. And the three-dimensional distribution of the reflection points displayed in a different manner indicates the three-dimensional shape of the object that caused the reflection points. Therefore, the user of the reflection data generation device 10 can recognize the three-dimensional shape of the object by viewing the data displayed by the non-measured area processing unit 230.

[0035] Also, the non-measured area processing unit 230 may use, as display data, data obtained by processing the three-dimensional distribution of the reflection points corresponding to the selected irradiation direction. For example, the non-measured area processing unit 230 may estimate the shape of the object using the three-dimensional distribution of the selected reflection points, and display a diagram showing the shape, together with and / or instead of the three-dimensional distribution of the reflection points.

[0036] Next, the measurement data analysis unit 220 stores the analysis data generated this time in the data storage unit 212, and the non-measured area processing unit 230 stores information about the moving object 40 detected by the non-measured area processing unit 230, for example, information indicating that the moving object 40 is located in the non-measured area at the second timing, in the data storage unit 212 (step S60).

[0037] FIG. 5 is a diagram for explaining the processing performed by the non-measurement area processing unit 230. As described above, the data storage unit 212 stores non-measurement area specific information and analysis data generated in the past. Therefore, the non-measurement area processing unit 230 reads out the non-measurement area specific information from the data storage unit 212, and also reads out analysis data (first analysis data) based on measurement data (first measurement data) generated before the measurement data (second measurement data) that is the target of the current processing from the data storage unit 212. As shown in FIG. 5(A), it is assumed that the moving body 40 is detected in the first analysis data. Then, it is determined whether the distance between the non-measurement area indicated by the non-measurement area specific information (the area shaded by the object 30 in the figure) and the moving body 40 is within the first reference distance. As described above, when the non-measurement area specific information is three-dimensional information or two-dimensional information of the non-measurement area, the non-measurement area processing unit 230 calculates the distance between the moving body 40 and the closest part of the non-measurement area to the moving body 40 (that is, the shortest distance between the moving body 40 and the non-measurement area). Here, instead of the distance between the moving body 40 and the non-measurement area, the distance between the moving body 40 and the object 30 may be used. In this case, this distance is calculated using the position of the reflection point corresponding to the moving body 40 and the position of the reflection point corresponding to the object 30. Also, the first reference distance is set based on the distance that the moving body 40 can move during the time from when the first measurement data is generated to when the second measurement data is generated. When the distance between the moving body 40 and the non-measurement area is within the first reference distance, at the timing when the second measurement data is generated, there is a possibility that the moving body 40 detected in the first analysis data has moved to the back side of the object 30, that is, the non-measurement area.

[0038] Then, as shown in FIG. 5(B), when at least a part of the moving body 40 is not detected in the second analysis data generated this time, the non-measurement area processing unit 230 estimates that at least a part of the moving body 40 is located in the non-measurement area at this time (second timing).

[0039] Here, the measurement data generated by the reflection data generation device 10 also indicates the distance to each reflection point. Therefore, the non-measurement area processing unit 230 can determine whether the reflection point corresponding to the moving body 40 is farther away than the reflection point corresponding to the object 30. Thus, it may be a necessary condition for the non-measurement area processing unit 230 to estimate that at least a part of the moving body 40 is located in the non-measurement area at the second timing, based on the fact that the reflection point caused by the moving body 40 is located farther away than the reflection point caused by the object 30 (i.e., the cause of the generation of the non-measurement area).

[0040] After that, as shown in FIG. 5(C), the measurement data acquisition unit 210 acquires third measurement data indicating the three-dimensional distribution of the reflection points at a third timing after the second timing. Then, the measurement data analysis unit 220 generates analysis data (third analysis data) at the third timing by processing the third measurement data. And when the non-measurement area processing unit 230 estimates that the moving body 40 is located in the non-measurement area at the second timing and the moving body 40 is detected within the second reference distance from the non-measurement area at the third timing, it is estimated that the moving body 40 that was located in the non-measurement area at the second timing has come out of the non-measurement area at the third timing. Note that this estimation result means that the moving body 40 detected at the first timing and the moving body 40 detected at the third timing are the same. Then, the non-measurement area processing unit 230 includes information indicating this estimation result in the display data.

[0041] Here, the second reference distance is set based on the distance that the moving body 40 can move during the time from when the second measurement data is generated to when the third measurement data is generated. Therefore, when the time from when the first measurement data is generated to when the second measurement data is generated is equal to the time from when the second measurement data is generated to when the third measurement data is generated, the second reference distance may be the same value as the first reference distance. Also, the moving body 40 detected at the first timing and the moving body 40 detected at the third timing may be located on the same side or on opposite sides with respect to the object 30.

[0042] In this way, the non-measured area processing unit 230 can estimate that the moving object 40 is hidden in the non-measured area. Also, when there are a plurality of non-measured areas, the non-measured area in which the moving object 40 is hidden can be specified. Furthermore, when the non-measured area processing unit 230 estimates that a new moving object 40 has entered the non-measured area, it increments a counter by one, and conversely, when it estimates that the moving object 40 has exited the non-measured area, it decrements the counter by one, thereby estimating the number of moving objects 40 present in the non-measured area.

[0043] Also, the intensity of the reflected wave varies depending on the surface state of the reflection point (for example, the clothes when the moving object 40 is a person). For this reason, the non-measured area processing unit 230 determines that the difference between the intensity of the reflected wave at the reflection point corresponding to the moving object 40 in the first measurement data and the intensity of the reflected wave at the reflection point corresponding to the moving object 40 in the third measurement data is below a reference value. This can be used as a necessary condition for estimating that the moving object 40 located in the non-measured area at the second timing has come out of the non-measured area at the third timing.

[0044] Conversely, when the reflection data generation device 10 is installed in a clothing store and the moving object 40 is a person, there is a possibility that the moving object 40 is wearing clothes as merchandise in the shade of the object 30. In such a case, when the difference between the intensity of the reflected wave at the reflection point corresponding to the moving object 40 in the second measurement data and the intensity of the reflected wave at the reflection point corresponding to the moving object 40 in the third measurement data is above a reference value, the non-measured area processing unit 230 may perform a warning process. An example of this warning process is to cause a predetermined display to be made on the display device and to output a predetermined sound from the speaker.

[0045] In addition, the reflection data generation device 10 is installed in the store. When the moving object 40 is a person, the moving object 40 may take out the merchandise from behind the object 30. In such a case, when the difference between the shape of the moving object 40 identified by the second analysis data and the shape of the moving object 40 identified by the third analysis data is equal to or greater than a reference, the non-measurement area processing unit 230 may perform a warning process. An example of this warning process is as described above.

[0046] As described above, according to the present embodiment, the non-measurement area processing unit 230 of the moving object detection device 20 uses non-measurement area identification information capable of identifying a non-measurement area, first analysis data generated at the first timing, and second analysis data generated at the second timing to detect the moving object 40 estimated to be located in the non-measurement area at the second timing. For example, when a moving object 40 is detected within a first reference distance from the non-measurement area in the first analysis data and at least a part of the moving object 40 is not detected in the second analysis data, it is estimated that at least a part of the moving object 40 is located in the non-measurement area at the second timing. Therefore, it is possible to detect that the moving object 40 has moved to the back side of the object 30, that is, the non-measurement area.

[0047] As described above, the embodiments and examples have been described with reference to the drawings, but these are examples of the present invention, and various configurations other than the above can also be adopted.

Explanation of Reference Numerals

[0048] 10 Reflection data generation device 20 Moving object detection device 30 Object 40 Moving object 210 Measurement data acquisition unit 212 Data storage unit 220 Measurement data analysis unit 230 Non-measurement area processing unit

Claims

1. a measurement data acquisition unit that acquires first measurement data that is generated by analyzing a reflected wave of an electromagnetic wave irradiated to a target area and indicates a three-dimensional distribution of reflection points of the electromagnetic wave at a first timing, and second measurement data that indicates a three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing that is later than the first timing; a measurement data analysis unit that processes the first measurement data to generate first analysis data that can identify a position of a moving object when the moving object is present in the target area at the first timing, and processes the second measurement data to generate second analysis data that can identify a position of the moving object when the moving object is present in the target area at the second timing; a non-measurement area processing unit that detects a moving body estimated to be located in the non-measurement area at the second timing using non-measurement area identification information that can identify a non-measurement area, which is an area of ​​the target area where the electromagnetic waves are not expected to reach, the first measurement data, and the second measurement data.

2. 2. The moving body detection device according to claim 1, A moving body detection device in which the non-measurement area processing unit estimates that at least a part of the moving body is located in the non-measurement area at the second timing when a moving body is detected within a first reference distance from the non-measurement area in the first analysis data and at least a part of the moving body is not detected in the second analysis data.

3. 3. The moving body detection device according to claim 2, The non-measurement area processing unit of the moving body detection device estimates that at least a part of the moving body is located in the non-measurement area at the second timing when, in the first analysis data, the moving body is located farther away from the reflection point that causes the generation of the non-measurement area, when the receiving unit that receives the reflected wave is taken as the starting point.

4. 4. The moving body detection device according to claim 2, the measurement data acquisition unit acquires third measurement data indicating a three-dimensional distribution of the reflection points at a third timing that is after the second timing, the measurement data analysis unit processes the third measurement data to generate third analysis data capable of identifying a position of a moving object when the moving object is present in the target area at the third timing; The non-measurement area processing unit estimates that the moving body is located in the non-measurement area at the second timing, and if a moving body is detected within a second reference distance from the non-measurement area at the third timing, the moving body detection device estimates that the moving body that was located in the non-measurement area at the second timing has left the non-measurement area at the third timing.

5. 5. The moving body detection device according to claim 4, the first measurement data and the third measurement data each include an intensity of the reflected wave from the moving object; The non-measurement area processing unit of the moving body detection device estimates that the moving body, which was located in the non-measurement area at the second timing, has left the non-measurement area at the third timing when the difference between the intensity of the reflected wave by the moving body included in the first measurement data and the intensity of the reflected wave by the moving body included in the third measurement data is below a standard.

6. 5. The moving body detection device according to claim 4, the first measurement data and the third measurement data each include an intensity of the reflected wave from the moving object; The non-measurement area processing unit of the moving body detection device performs an alarm processing when the difference between the intensity of the reflected wave by the moving body included in the first measurement data and the intensity of the reflected wave by the moving body included in the third measurement data is equal to or greater than a standard.

7. The moving body detection device according to any one of claims 4 to 6, the first analysis data and the third analysis data each include data capable of identifying a shape of the moving object; The non-measurement area processing unit of the moving body detection device performs an alarm processing when the difference between the shape of the moving body identified by the first analysis data and the shape of the moving body identified by the third analysis data is equal to or greater than a standard.

8. The computer Obtaining first measurement data that is generated by analyzing a reflected wave of an electromagnetic wave irradiated to a target area, the first measurement data indicating a three-dimensional distribution of reflection points of the electromagnetic wave at a first timing, and second measurement data that indicates a three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing that is later than the first timing; by processing the first measurement data, first analysis data is generated that can identify a position of a moving object when the moving object is present in the target area at the first timing, and by processing the second measurement data, second analysis data is generated that can identify a position of the moving object when the moving object is present in the target area at the second timing; A moving body detection method that detects a moving body estimated to be located in the non-measurement area at the second timing using non-measurement area identification information capable of identifying a non-measurement area, which is an area of ​​the target area where the electromagnetic waves are not expected to reach, the first analysis data, and the second analysis data.

9. On the computer, a function of acquiring first measurement data that is generated by analyzing a reflected wave of an electromagnetic wave irradiated to a target area, the first measurement data indicating a three-dimensional distribution of reflection points of the electromagnetic wave at a first timing, and second measurement data indicating a three-dimensional distribution of the reflection points of the electromagnetic wave at a second timing that is later than the first timing; a function of generating first analysis data by processing the first measurement data, the first analysis data being capable of identifying a position of a moving object when the moving object is present in the target area at the first timing, and generating second analysis data by processing the second measurement data, the second analysis data being capable of identifying a position of the moving object when the moving object is present in the target area at the second timing; a function of detecting a moving object estimated to be located in the non-measurement area at the second timing by using non-measurement area identification information capable of identifying a non-measurement area, which is an area of ​​the target area where the electromagnetic waves do not reach, the first analysis data, and the second analysis data; A program that allows you to have

10. A storage medium storing the program according to claim 9.

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