Vehicle LiDAR system and object detection method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorsMi Rim Noh, Yo Han Sung
Life of this patent
Estimating the term…
Abstract
An object detection method of a vehicle lidar system according to an embodiment includes, in a contour of an object to be separated formed by connecting peak points among point data of the object to be separated, determining a contour line in which a connecting section of a contour line connecting the peak points includes point data equal to or less than a reference, and setting a separation reference line for separating the contour of the object to be separated into two regions while passing through the contour line including the point data equal to or less than the reference to recognize point data of the two regions as respective objects.
Claims18
An object detection method of a vehicle lidar system, comprising:
- receiving point data from a lidar sensor;
- determining an object to be separated from the point data;
- forming a contour of the object by connecting peak points among point data of the object;
- determining a contour line in the contour of the object, a connecting section of which includes point data less than or equal to a reference;
- and
- setting a separation reference line crossing the contour line for separating the contour of the object into two regions to recognize point data of the two regions as respective objects.
A non-transitory computer-readable recording medium having recorded thereon a program for executing an object detection method of a vehicle lidar system, the program implementing:
- receiving point data from a lidar sensor;
- determining an object to be separated from the point data,
- forming a contour of the object by connecting peak points among point data of the object;
- determining a contour line, in the contour of the object, a connecting section of which includes point data less than or equal to a reference;
- and
- setting a separation reference line crossing the contour line for separating the contour of the object into two regions while to recognize point data of the two regions as respective objects.
A vehicle lidar system comprising:
- a lidar sensor;
- and
- an object tracking device configured to:
- recognize objects based on point data obtained through the lidar sensor;
- upon determining an object to be separated among the objects, determine, a contour line, in a contour of the object formed by connecting peak points among point data of the object, a connecting section of which includes point data less than or equal to a reference;
- and
- set a separation reference line crossing the contour line for separating the contour of the object into two regions to recognize point data of the two regions as respective objects.
Dependencies are inferred from the claim text.