The present invention relates to an apparatus and a method for recognizing an obstacle of an autonomous tractor for obstacle detection. The apparatus comprises: a sensor unit mounted on the autonomous tractor and acquiring a three-dimensional image by sensing the surroundings of the autonomous tractor; a camera unit mounted on the autonomous tractor and acquiring a two-dimensional image by photographing the surroundings of the autonomous tractor; and an obstacle determination unit for determining an obstacle by fusing the three-dimensional image obtained from the sensor unit and the two-dimensional image obtained from the camera unit. The obstacle determination unit extracts an object area from the two-dimensional image obtained from the camera unit, detects the object by projecting the extracted object area onto the three-dimensional image obtained from the sensor unit, and determines whether the detected object is an obstacle-excluded object. The obstacle determination unit determines the detected object as a non-obstacle when the detected object is the obstacle-excluded object. The obstacle determination unit determines the detected object as an obstacle when the detected object is not the obstacle-excluded object. The present invention can eliminate erroneous detection of obstacles and increase safety.

    장애물 검출을 위한 자율주행 트랙터의 장애물 인식 장치 및 방법에 관한 것으로, 자율주행 트랙터에 장착되어 상기 자율주행 트랙터의 주변을 센싱하여 3차원 영상을 획득하는 센서부, 상기 자율주행 트랙터에 장착되어 상기 자율주행 트랙터의 주변을 촬영하여 2차원 영상을 획득하는 카메라부, 그리고 상기 센서부로부터 획득한 3차원 영상과 상기 카메라부로부터 획득한 2차원 영상을 융합하여 장애물을 판정하는 장애물 판정부를 포함하고, 상기 장애물 판정부는, 상기 카메라부로부터 획득한 2차원 영상 내에서 객체 영역을 추출하고, 상기 추출한 객체 영역을 상기 센서부로부터 획득한 3차원 영상에 투영하여 객체를 검출하며, 상기 검출된 객체가 장애물 배제 객체인지를 판단하고, 상기 검출된 객체가 장애물 배제 객체이면 상기 검출된 객체를 비장애물(non-obstacle)로 판정하며, 상기 검출된 객체가 장애물 배제 객체가 아니면 상기 검출된 객체를 장애물로 판정할 수 있다.


    Access

    Download


    Export, share and cite



    Title :

    APPARATUS AND METHOD FOR RECOGNIZING OBSTACLE OF AUTONOMOUS DRIVING TRACTOR


    Additional title:

    자율주행 트랙터의 장애물 인식 장치 및 방법


    Contributors:

    Publication date :

    2023-01-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    OBSTACLE RECOGNIZING DEVICE

    OSADA KOKI / HIROMITSU TAKAYUKI / FUJIMOTO TOMOYUKI et al. | European Patent Office | 2021

    Free access

    APPARATUS AND METHOD FOR RECOGNIZING DRIVING ENVIROMENT FOR AUTONOMOUS VEHICLE

    YOU BYUNG YONG / HEO MYUNG SEON / OH YOUNG CHUL | European Patent Office | 2016

    Free access

    Obstacle Avoidance Method and Apparatus for Autonomous Driving Vehicle

    WANG YUE / SHEN DONGHUI / CHENG LIE et al. | European Patent Office | 2021

    Free access

    Method and apparatus for recognizing obstacle of vehicle

    HU TAIQUN | European Patent Office | 2019

    Free access

    Tractor driving device and tractor driving method

    HONG ZHI | European Patent Office | 2020

    Free access