본 발명의 하나의 실시예에 의한 센서 퓨전에 의한 객체 추적 방법은, 라이다 데이터로부터 추출된 객체 포인트 클라우드로부터 해당 객체의 추적을 위한 라이다 트랙을 생성하고, 상기 객체에 대한 라이다 데이터 및 카메라 또는 레이더 데이터를 융합하여 센서 퓨전 트랙을 생성하며, 상기 라이다 트랙의 헤딩각의 정합 여부를 판단하고, 상기 정합 판단 결과에 따라 상기 라이다 트랙의 헤딩각을 최종 센서 퓨전 트랙의 헤딩각으로 결정한다.

    An embodiment object tracking method by use of sensor fusion technology includes creating a LiDAR track that tracks an object according to point clouds extracted from LiDAR data of the object, creating a non-final sensor fusion track for the object according to camera data or radar data in addition to the LiDAR data, assessing consistency of a heading angle of the LiDAR track, and determining the heading angle of the LiDAR track to be a heading angle of a final sensor fusion track according to a result of assessing the consistency.


    Access

    Download


    Export, share and cite



    Title :

    Object Tracking Method by Using Sensor Fusion Technology and Vehicle Driving System by the Same


    Additional title:

    센서 퓨전에 의한 객체 추적 방법 및 이를 적용한 차량용 운전 시스템


    Contributors:

    Publication date :

    2023-08-22


    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



    Object Tracking Method by Using Sensor Fusion Technology and Vehicle Driving System by the Same

    MOON JI YANG / CHA HYUNG JIN | European Patent Office | 2023

    Free access

    Vehicle Driving Control System and Method Using Sensor Fusion Technology

    WON SANG BOK | European Patent Office | 2023

    Free access


    A multi-sensor fusion system for moving object detection and tracking in urban driving environments

    Cho, Hyunggi / Seo, Young-Woo / Kumar, B.V.K. Vijaya et al. | IEEE | 2014


    Object tracking using sensor fusion within a probabilistic framework

    DONGRAN LIU / SNEHA KADETOTAD / MARCOS PAU GERARDO CASTRO et al. | European Patent Office | 2018

    Free access