According to the embodiment of the present invention, an object detection method of a vehicle LiDAR system includes the steps of: generating an overhead cluster corresponding to an object whose height from the ground may be equal to or larger than a reference height and a grounded cluster whose height from the ground may be smaller than the reference height, in point cloud data obtained by sensing an object; and comparing point data included in the overhead cluster and point data included in the grounded cluster, and removing the grounded cluster upon determining that an object corresponding to the corresponding grounded cluster does not exist. Therefore, object recognition performance can be maximized within limited system resources.
실시 예에 의한 차량용 라이다 시스템의 객체 검출 방법은, 객체를 센싱하여 획득한 포인트 클라우드 데이터에서, 지면으로부터의 높이가 기준 높이 이상인 객체에 대응되는 고고도 클러스터와 상기 기준 높이 미만인 지면 클러스터를 생성하는 단계; 및 상기 고고도 클러스터에 포함된 포인트 데이터와 상기 지면 클러스터에 포함된 포인트 데이터를 비교하여, 상기 지면 클러스터에 대응되는 객체가 존재하지 않는 것으로 판단된 경우 해당 지면 클러스터를 제거하는 단계;를 포함한다.
VEHICLE LIDAR SYSTEM AND OBJECT DETECTING METHOD THEREOF
차량용 라이다 시스템 및 그 객체 검출 방법
2023-06-26
Patent
Electronic Resource
Korean
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 |
VEHICLE LIDAR SYSTEM AND OBJECT DETECTING METHOD THEREOF
European Patent Office | 2023
|VEHICLE LIDAR SYSTEM AND OBJECT DETECTING METHOD THEREOF
European Patent Office | 2023
|VEHICLE LIDAR SYSTEM AND OBJECT DETECTING METHOD THEREOF
European Patent Office | 2023
|Vehicle system for detecting object and operation method thereof
European Patent Office | 2018
|VEHICLE CONTROL SYSTEM FOR DETECTING OBJECT AND METHOD THEREOF
European Patent Office | 2022
|