Method for detecting traffic sign using lidar sensor and traffic sign detection device performing the method

A traffic sign detection system comprising:

• a lidar sensor configured to acquire point data by detecting a vicinity of the lidar sensor;
• and
• a traffic sign detection device configured to acquire a traffic sign,
• wherein the traffic sign detection device comprises:
• a transceiver configured to acquire the point data detected by the lidar sensor;
• and
• a processor configured to control the transceiver,
• wherein the processor is configured to:
• cluster a plurality of points based on positions of the plurality of points included in the point data;
• determine one or more plane object clusters, each of which corresponds to a plane object, among one or more clusters, each of which is formed by clustering the plurality of points by generating one or more straight lines each connecting at least one pair of points included in a first cluster of the one or more clusters and determining whether the first cluster belongs to the one or more plane object clusters by using inlier points for each of the one or more straight lines, wherein the determining of whether the first cluster belongs to the one or more plane object clusters comprises selecting a representative straight line having the most inlier points from among the one or more straight lines and determining that the first cluster belongs to the one or more plane object clusters when a ratio of a total number of inlier points for the representative straight line to a total number of points included in the first cluster is equal to or greater than a predetermined reference ratio;
• and
• detect one or more traffic sign object clusters, each of which corresponds to the traffic sign, among the one or more plane object clusters based on a predetermined traffic sign detection factor.

A non-transitory computer-readable storage medium storing computer-executable instructions which cause, when executed by a processor, the processor to perform a method for detecting a traffic sign using a traffic sign detection device, the method comprising:

• acquiring point data from a lidar sensor detecting a vicinity of the lidar sensor;
• clustering a plurality of points based on positions of the plurality of points included in the point data;
• determining one or more plane object clusters, each of which corresponds to a plane object, among one or more clusters, each of which is formed by clustering the plurality of points;
• and
• detecting one or more traffic sign object clusters, each of which corresponds to the traffic sign, among the one or more plane object clusters based on a predetermined traffic sign detection factor, wherein the determining of the one or more plane object clusters comprises:
• generating one or more straight lines each connecting at least one pair of points included in a first cluster of the one or more clusters;
• and
• determining whether the first cluster belongs to the one or more plane object clusters by using inlier points for each of the one or more straight lines, wherein the determining of whether the first cluster belongs to the one or more plane object clusters comprises:
• selecting a representative straight line having the most inlier points from among the one or more straight lines;
• and
• determining that the first cluster belongs to the one or more plane object clusters when a ratio of a total number of inlier points for the representative straight line to a total number of points included in the first cluster is equal to or greater than a predetermined reference ratio.