The present invention provides an object recognition device using a lidar sensor and a vehicle having the same. According to the present invention, an object recognition apparatus comprises: a lidar sensor; and a processor recognizing objects based on data received from the lidar sensor, obtaining a minimum value and a maximum value among ground height values for each object, generating a ground trend line based on the minimum values for each object, obtaining a reference value of the ground height for each object based on the generated ground trend line, and determining an actual value of the ground height for each object based on a difference between the minimum value, the maximum value, and the reference value of the ground height for each object.

    본 발명은 라이다 센서를 이용한 객체 인식 장치 및 그를 가지는 차량을 제공한다. 본 발명의 객체 인식 장치는, 라이다 센서; 및 라이다 센서로부터 수신되는 데이터에 기초하여 객체들을 인식하고 객체별 지면 높이의 값들 중 최소 값과 최대 값을 획득하고, 객체별 최소값들에 기초하여 지면 추세선을 생성하고 생성한 지면 추세선에 기초하여 객체별 지면 높이의 기준값을 획득하고, 객체별 지면 높이의 최소값, 최대값 및 기준값 사이의 차이에 기초하여 객체별 지면 높이의 실제 값을 결정하는 프로세서를 포함한다.


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    Title :

    Object recognition apparatus and vehicle having the same


    Additional title:

    객체 인식 장치 및 그를 가지는 차량


    Contributors:
    LIM JONGHYUK (author) / CHOI HEECHUL (author) / KIM JUNHYUNG (author) / YOO TAEKOAN (author)

    Publication date :

    2024-02-15


    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 / G06V



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