An object-tracking method using a LiDAR sensor may include forming a first inclination using GPS altitude points of a vehicle driving region, detecting a driving lane using LiDAR points of a vehicle and determining a second inclination using the detected driving lane, rotating the GPS altitude points using the first inclination and the second inclination, obtaining a third inclination using a target point and a neighboring point, among the LiDAR points, the neighboring point belonging to a previous layer adjacent to a current layer to which the target point belongs, obtaining a fourth inclination using points that match the LiDAR points, among the rotated GPS altitude points, and determining the target point to be a ground point when the absolute value of the difference between the third inclination and the fourth inclination is less than a threshold inclination.


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    Title :

    Method and apparatus for tracking object using LiDAR sensor and recording medium storing program to execute the method


    Contributors:

    Publication date :

    2024-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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