A method for detecting the surface of a road performed by a road surface detection device, according to one embodiment of the present invention, may comprise the steps of: arranging points obtained from a lidar sensor in a plurality of cells included in a circular grid map; generating a profile value for each of the plurality of cells by using the heights of the points; and detecting a road surface point included in each of the plurality of cells by using the profile value.
Un procédé de détection de la surface d'une chaussée exécuté par un dispositif de détection de surface de chaussée selon un mode de réalisation de la présente invention, peut comprendre les étapes consistant à : agencer des points obtenus à partir d'un capteur lidar dans une pluralité de cellules incluses dans une carte quadrillée circulaire ; générer une valeur de profil pour chaque cellule de la pluralité de cellules à l'aide des hauteurs des points ; et détecter un point de surface de chaussée inclus dans chacune de la pluralité de cellules à l'aide de la valeur de profil.
본 발명의 일 실시예에 따른 노면 검출 장치에 의해 수행되는 도로의 노면을 검출하는 방법은, 라이다 센서로부터 획득한 포인트들을, 원형 그리드 맵에 포함된 복수의 셀들에 배치하는 단계; 상기 포인트들의 높이를 이용하여, 상기 복수의 셀들 각각에 대한 프로파일 값을 생성하는 단계; 및 상기 프로파일 값을 이용하여, 상기 복수의 셀들 각각에 포함된 노면 포인트를 검출하는 단계를 포함할 수 있다.
METHOD AND DEVICE FOR DETECTING ROAD SURFACE BY USING LIDAR SENSOR
PROCÉDÉ ET DISPOSITIF DE DÉTECTION DE SURFACE DE CHAUSSÉE À L'AIDE D'UN CAPTEUR LIDAR
라이다 센서를 이용하여 노면을 검출하는 방법 및 장치
2022-12-29
Patent
Elektronische Ressource
Koreanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V |
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