ALEXANDRIA, Va., June 19 -- United States Patent no. 12,332,339, issued on June 17, was assigned to Mitsubishi Electric Corp. (Tokyo).

"Obstacle detection system, obstacle detection method, and non-transitory computer-readable recording medium" was invented by Kohei Hiromatsu (Tokyo), Michinori Yoshida (Tokyo) and Yasushi Sugama (Tokyo).

According to the abstract* released by the U.S. Patent & Trademark Office: "An obstacle detection device (3) receives information on observation point cloud data formed of a plurality of reflection points (14) observed within a measurement range including a water surface (10), and includes: a plane detection unit (31) to detect planes extending near the plurality of reflection points (14) included in the ...