the elongated ellipse song corner detection lidarilla

摘要

The object is to provide angle (12',12'') detection of an elongated object (15) of a vessel (10) by a LIDAR (11). In an embodiment, an apparatus (30) is dis- closed. The apparatus comprises: a LIDAR (11); a pro- cessor (36); a storage (37) comprising a set of in- structions (38,40) that, when executed by the proces- sor, cause the apparatus to: receive, from the LIDAR, sensor signals (14') indicative of an elongated object (15) extending from a vessel (10) comprising the appa- ratus; determine a line based on the sensor signals indicative of the elongated object; receive data in- dicative of a reference line (16) with respect to the vessel; and determine an angle (12',12'') between the line indicating the elongated object and the reference line, wherein the angle represents the angle of the elongated object with respect to the vessel.