Disclosed herein is a vehicle including a light detection and ranging (LiDAR) sensor configured to acquire a point cloud for the vehicle, a vehicle control network unit configured to control the vehicle, a motion unit configured to estimate a motion of the vehicle, a controller configured to estimate a ground plane of the LiDAR, and an automatic calibrator configured to calibrate a pose of the vehicle. The LiDAR sensor acquires time information; the vehicle control network unit processes a speed and a yaw rate of the vehicle; the motion unit calculates motion information and estimated information about the vehicle; the controller calculates ground plane information and estimated information about the vehicle; and the automatic calibrator calculates pose information and estimated information about the vehicle.
Apparatus for estimating vehicle pose using lidar sensor and method thereof
2025-02-18
Patent
Electronic Resource
English
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