The present invention provides a Lidar sensor data-based obstacle detecting three-dimensional viewer system, which comprises: a data acquisition unit acquiring three-dimensional point cloud data on an obstacle including a surrounding environment from a Lidar sensor installed in a vehicle; a noise removing unit removing the ground and noise components from the three-dimensional point cloud data; an obstacle detection unit clustering the three-dimensional point group data to classify the data into a plurality of point groups, and setting and labeling a bounding box for each of the classified point groups; and a calculating unit calculating the size of the obstacle based on the size of the bounding box corresponding to the labeled point group.

    본 발명은, 차량에 설치된 라이다 센서로부터 주변 환경을 포함한 장애물에 대한 3차원 점군 데이터를 획득하는 데이터 획득부와, 상기 3차원 점군 데이터로부터 지면 및 노이즈 성분을 제거하는 노이즈 제거부와, 상기 3차원 점군 데이터를 클러스터링하여 복수의 점군으로 분류하고, 분류된 점군 각각에 바운딩 박스를 설정하고 라벨링하는 장애물 검출부, 및 상기 라벨링된 점군에 대응된 상기 바운딩 박스의 크기를 기초로 상기 장애물의 크기를 연산하는 연산부를 포함하는 라이다 센서 데이터 기반 장애물 검출 3차원 뷰어 시스템을 제공한다.


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    Title :

    3 3D viewer system for detecting object based on lidar sensor data


    Additional title:

    라이다 센서 데이터 기반 장애물 검출 3차원 뷰어 시스템


    Contributors:
    KIM SOO YOUN (author) / KIM HYUN SOO (author)

    Publication date :

    2020-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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