An obstacle warning method includes the steps of: acquiring scenario images at a current sampling time and a previous sampling time, and a map about first relative distances between respective viewing points in a viewing field and a vehicle; acquiring a profile and marking information of an obstacle and a map about a second relative distance between the obstacle and the vehicle in accordance with the map about the first relative distances; calculating a map about a third relative distance between the obstacle and the vehicle at a previous sampling time in accordance with the map about the first relative distances at the previous sampling time, the profile and the marking information of the obstacle at the current sampling time and a motion vector of the obstacle from the current sampling time to the previous sampling time.

An obstacle warning method includes the steps of: acquiring scenario images at a current sampling time and a previous sampling time, and a map about first relative distances between respective viewing points in a viewing field and a vehicle; acquiring a profile and marking information of an obstacle and a map about a second relative distance between the obstacle and the vehicle in accordance with the map about the first relative distances; calculating a map about a third relative distance between the obstacle and the vehicle at a previous sampling time in accordance with the map about the first relative distances at the previous sampling time, the profile and the marking information of the obstacle at the current sampling time and a motion vector of the obstacle from the current sampling time to the previous sampling time.

Presented are a recording apparatus, a mobile terminal, an analysis apparatus, a program, and a storage medium that can detect a slight tendency toward change in step length and walking speed with high accuracy. The recording apparatus includes: a mobile terminal; and an analysis apparatus, wherein the mobile terminal includes a positioning device and a sensor, acquires position information of the mobile terminal from the positioning device, acquires, from the sensor, measurement information indicating whether a walker is walking straight on a flat, extracts position information of a case where the walker is walking straight on the flat from among pieces of the position information, on the basis of the measurement information, and calculates a walking speed and a step length of the walker, on the basis of the extracted position information, and the analysis apparatus notifies the walker of changes in walking speed and step length.

Presented are a recording apparatus, a mobile terminal, an analysis apparatus, a program, and a storage medium that can detect a slight tendency toward change in step length and walking speed with high accuracy. The recording apparatus includes: a mobile terminal; and an analysis apparatus, wherein the mobile terminal includes a positioning device and a sensor, acquires position information of the mobile terminal from the positioning device, acquires, from the sensor, measurement information indicating whether a walker is walking straight on a flat, extracts position information of a case where the walker is walking straight on the flat from among pieces of the position information, on the basis of the measurement information, and calculates a walking speed and a step length of the walker, on the basis of the extracted position information, and the analysis apparatus notifies the walker of changes in walking speed and step length.

Adjusting emulated encoder frequencies in an example embodiment can include determining a difference between an encoder count and a theoretical encoder count and adjusting a frequency of an emulated encoder signal to mitigate at least some of the difference between the encoder count and the theoretical encoder count.

Adjusting emulated encoder frequencies in an example embodiment can include determining a difference between an encoder count and a theoretical encoder count and adjusting a frequency of an emulated encoder signal to mitigate at least some of the difference between the encoder count and the theoretical encoder count.

A velocity measuring device includes an event sensor, a ranging sensor and a controller. The event sensor could detect a first image frame of an object along a plane at a first time point and detect a second image frame of the object at a second time point. The ranging sensor could detect a first depth of the object along a depth direction at the first time point, wherein the depth direction is substantially perpendicular to the plane and detect a second depth of the object along the depth direction at the second time point. The controller could obtain first-dimensional velocity and a second-dimensional velocity along the plane according to the first image frame, the second image frame, the first depth and the second depth, and obtain a third-dimensional velocity along the depth direction according to the first depth or the second depth.

A contactless odometer system can include a sensor array. The sensor array can include a plurality of sensing elements adjacent to a target surface and configured to receive signals based on a distance separating the sensing element from the adjacent surface and a defect present below the adjacent surface of the target. The system can also include a controller configured to receive the signals from first and second locations within the target and to generate first and second defect maps corresponding to the first and second locations. The controller can identify overlapping portions of first and second defect maps and can determine a translation distance in at least one direction. Related methods of determining a distance traveled by a contactless odometer system are also provided.

A contactless odometer system can include a sensor array. The sensor array can include a plurality of sensing elements adjacent to a target surface and configured to receive signals based on a distance separating the sensing element from the adjacent surface and a defect present below the adjacent surface of the target. The system can also include a controller configured to receive the signals from first and second locations within the target and to generate first and second defect maps corresponding to the first and second locations. The controller can identify overlapping portions of first and second defect maps and can determine a translation distance in at least one direction. Related methods of determining a distance traveled by a contactless odometer system are also provided.

Embodiments of the present disclosure provide a method and apparatus for determining a velocity of an obstacle, a device, and a medium. An implementation includes: acquiring a first point cloud data of the obstacle at a first time and a second point cloud data of the obstacle at a second time; registering the first point cloud data and the second point cloud data by moving the first point cloud data or the second point cloud data; and determining a moving velocity of the obstacle based on a distance between two data points in a registered data point pair.