Method and apparatus for detecting object in three-dimensional (3D) point cloud

A method for detecting an object in a three-dimensional (3D) point cloud comprising:

• by a three-dimensional (3D) model reconstruction unit, reconstructing a three-dimensional (3D) model using three-dimensional (3D) point cloud data;
• by a two-dimensional (2D) object detection unit, detecting an object in at least one two-dimensional (2D) image captured to generate the three-dimensional (3D) point cloud data;
• by a three-dimensional (3D) position estimation unit, extracting an external appearance of the object from a top-view image obtained from the three-dimensional (3D) model, extracting planar coordinates corresponding to the external appearance of the object, forming a cylinder surrounding the object in the three-dimensional (3D) model based on a two-dimensional (2D) position of the detected object based on the planar coordinates, and estimating a three-dimensional (3D) position of the detected object using the cylinder;
• and
• by an object region extraction unit, acquiring three-dimensional (3D) point cloud data contained in the cylinder, and extracting an object region from the acquired three-dimensional (3D) point cloud data,
• wherein a bottom surface of the cylinder is set to a planar figure including the planar coordinates.