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US 12,601,840 B2Granted
Tuning parameter determination method for tracking an object, a group density-based clustering method, an object tracking method, and an object tracking apparatus using a lidar sensor
AssigneesHyundai Motor Company, Kia Corporation
InventorsMu Gwan Jeong, Nam Gyun Kim
Life of this patent
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Abstract
An object-tracking apparatus using a LiDAR sensor of an embodiment includes: a LiDAR sensor configured to acquire a point cloud related to an object; a first clustering unit configured to primarily cluster the point cloud; and a second clustering unit configured to secondarily cluster the result of primary clustering in response to the time taken to perform primary clustering.
Claims8
An object-tracking method using a LiDAR sensor, the object-tracking method comprising:
- acquiring a point cloud related to an object;
- performing primary clustering on the point cloud;
- and
- performing secondary clustering on a result of the primary clustering depending on a time taken to perform the primary clustering,
- wherein performing the primary clustering comprises:
- performing grid-based clustering on the point cloud when an area of a region of the point cloud is greater than a first threshold area;
- checking whether the area of the region of the point cloud is greater than a second threshold area that is less than the first threshold area when the area of the region of the point cloud is not greater than the first threshold area;
- performing density-based clustering on points of the point cloud when the area of the region of the point cloud is greater than the second threshold area;
- and
- performing group density-based clustering on the points of the point cloud when the area of the region of the point cloud is not greater than the second threshold area.
7 more elements
An object-tracking apparatus comprising:
- a LiDAR sensor configured to acquire a point cloud related to an object;
- a first clustering unit configured to primarily cluster the point cloud;
- and
- a second clustering unit configured to secondarily cluster a result of primary clustering in response to a time taken to perform the primary clustering,
- wherein the first clustering unit comprises:
- a first comparison unit configured to compare an area of a region of the point cloud with a first threshold area;
- a first grid-based clustering unit configured to perform grid-based clustering on the point cloud in response to a result of comparison by the first comparison unit;
- a second comparison unit configured to compare the area of the region of the point cloud with a second threshold area that is less than the first threshold area in response to the result of comparison by the first comparison unit;
- a first density-based clustering unit configured to perform density-based clustering on points of the point cloud in response to a result of comparison by the second comparison unit;
- and
- a first group density-based clustering unit configured to perform group density-based clustering on the points of the point cloud in response to the result of comparison by the second comparison unit.
8 more elements
Dependencies are inferred from the claim text.