The disclosure provides a method for classifying real-time end-to-end weather and a road state using LiDAR and an apparatus for the same. The purpose of the present invention is to provide a method for classifying surrounding environments of a vehicle without dependence on a predetermined interest area or a hand-crafted feature of a LiDAR point cloud and an apparatus for the same. According to an aspect of the present invention, the apparatus for classifying a driving environment using LiDAR includes: a data collection unit collecting a three-dimensional point cloud from LiDAR; an image generating unit generating a range image based on the three-dimensional point cloud; an image processing unit extracting at least one feature included in the range image by inputting the range image and at least one encoder weight learned in advance in an encoder learned in advance; and a driving environment determining unit classifying the driving environment by inputting at least one classification weight learned in advance and at least one feature in a driving environment classification model learned in advance.

    본 개시는 실시간 종단간 기상 및 도로상태 분류 방법 및 장치를 제공한다. 본 개시의 일 측면에 의하면, 라이다(LiDAR)를 이용한 주행환경 분류장치에 있어서, 상기 라이다로부터 3차원 포인트 클라우드(3D point cloud)를 수집하는 데이터 수집부; 상기 3차원 포인트 클라우드에 기초하여 레인지 이미지(range image)를 생성하는 이미지 생성부; 상기 레인지 이미지 및 기 학습된 적어도 하나의 인코더 가중치(encoder weight)를 기 학습된 인코더에 입력하여 상기 레인지 이미지 내에 포함된 적어도 하나의 특징(feature)을 추출하는 이미지 처리부; 및 상기 적어도 하나의 특징 및 기 학습된 적어도 하나의 분류 가중치(classification weight)를 기 학습된 주행환경 분류모델에 입력하여 주행환경(driving environment)을 분류하는 주행환경 판단부를 포함하는 주행환경 분류장치를 제공한다.


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    Title :

    Method And Apparatus for End-to-End Real-Time Classification of Weather And Road Condition Using LiDAR


    Additional title:

    라이다를 이용한 실시간 종단간 기상 및 도로상태 분류 방법 및 장치


    Contributors:
    GEORGE SEBASTIAN (author) / TEJA VATTEM (author) / LUKA LUKIC (author)

    Publication date :

    2023-07-03


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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