According to an embodiment of the present invention, an apparatus and a method for recognizing a dangerous object through lidar and camera fusion convert sensing data of the lidar into a vehicle coordinate system, and calculate a time difference between a camera data acquisition time point and a lidar data acquisition time point to calculate an object tracking result. Thereafter, by compensating for the time difference for the camera data, it is possible to recognize an object that is not learned in deep learning and machine learning. In addition, an object may be recognized by using clustering according to an embodiment. In addition, in an embodiment, the lower coordinates of the moving object, such as a person or a vehicle, are converted into a vehicle coordinate system using a conversion matrix, and the distance and angle of the object are calculated based on the x-axis, so that a low-speed autonomous vehicle can be recognized on a road in which a pedestrian and a low-speed vehicle are mixed.

    실시예에 따른 라이다, 카메라 합성(fusion)을 통한 위험 객체 인지 장치 및 방법은 라이다의 센싱 데이터를 차량 좌표계로 변환하고, 카메라 데이터 취득 시점과 라이다 데이터 취득 시점의 시간차를 계산하여 객체 추적(object tracking) 결과를 산출한다. 이후, 카메라 데이터에 대한 시간차를 보상함으로써, 딥러닝 및 머신러닝에 학습하지 객체를 인지할 수 있도록 한다. 또한, 실시예를 통해 클러스터링을 이용하여 객체를 인지할 수 있도록 한다. 또한, 실시예에서는 사람, 차량 등 움직이는 객체에 대해 물체 하단좌표를 변환행렬을 이용하여 차량 좌표계로 변환하여 x축 기준으로 물체의 거리와 각도(angle)를 계산함으로써, 보행자와 저속 차량 혼재된 도로에서 저속 자율 주행 차량을 인지할 수 있도록 한다.


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    Title :

    OBJECT RECOGNITION APPARATUS AND METHOD FOR AUTONOMOUS VEHICLES


    Additional title:

    자율주행 차량의 객체 인식 장치 및 방법


    Contributors:

    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G06V / 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



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