The present invention provides a method for detecting an obstacle, an apparatus for the same, an electronic device, and an autonomous vehicle, about an artificial intelligence field and, specifically, an autonomous driving field. According to an embodiment of the present invention, the method for detecting an obstacle includes: a step of obtaining point cloud data collected by a laser radar sensor in a process of detecting an obstacle; a step of converting the point cloud data into an obstacle feature map including a feature of a detected image including a feature of the obstacle; a step of obtaining the feature of the obstacle by processing feature extraction on the feature of the detected image in an obstacle feature map; and a step of determining a target obstacle according to the feature of the obstacle. In a process of processing the feature extraction, the feature of the obstacle increases a weighted value in the obstacle feature map. Also, map processing is performed on the feature extraction based on map data generated by point cloud distribution data corresponding to the point cloud data. Therefore, the method for detecting an obstacle can improve accuracy of obstacle detection and detection efficiency.

    본 발명은 인공 지능 분야, 특히 자율주행 분야에 관한 장애물 검출 방법, 장치, 전자 기기 및 자율주행 차량을 제공한다. 구체적인 실현 방안은, 장애물 검출 과정에서 레이저 레이더 센서에 의해 수집되는 포인트 클라우드 데이터를 획득하고; 상기 포인트 클라우드 데이터를, 장애물 특징을 포함하는 검출 대상 이미지 특징을 포함하는 장애물 특징 맵으로 변환하며; 상기 장애물 특징 맵에서의 검출 대상 이미지 특징에 대해 특징 추출 처리를 수행하여, 장애물 특징을 획득하는 것으로, 상기 특징 추출 처리 과정에서, 상기 장애물 특징이 상기 장애물 특징 맵에서의 가중치 값을 향상시키고, 상기 포인트 클라우드 데이터에 대응되는 포인트 클라우드 분포 데이터에 의해 생성되는 지도 데이터에 기반하여, 특징 추출 처리에 대해 지도 처리를 수행하며; 상기 장애물 특징에 따라 타깃 장애물을 결정하는 것이다.


    Access

    Download


    Export, share and cite



    Title :

    METHOD FOR DETECTING OBSTACLE ELECTRONIC DEVICE AND STORAGE MEDIUM


    Additional title:

    장애물 검출 방법, 장치, 전자 기기 및 자율주행 차량


    Contributors:
    ZHANG XIAO (author) / DONG FANGFANG (author) / WAN GUOWEI (author)

    Publication date :

    2023-02-27


    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    Method for Detecting Obstacle, Electronic Device, and Storage Medium

    ZHANG XIAO / DONG FANGFANG / WAN GUOWEI | European Patent Office | 2023

    Free access


    METHOD AND APPARATUS FOR DETECTING OBSTACLE ELECTRONIC DEVICE AND STORAGE MEDIUM

    WANG ZHI / PAN YONG / ZHAO QINGHUI | European Patent Office | 2021

    Free access

    Obstacle detecting method and apparatus, device and storage medium

    CHEN DONGMING / YAN HE / WANG HAO et al. | European Patent Office | 2020

    Free access

    OBSTACLE DETECTING DEVICE AND OBSTACLE DETECTING METHOD

    ONUMA YOSHIKI | European Patent Office | 2016

    Free access