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US 12,743,865 B2Granted
Apparatus for recognizing object and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorMi Rim Noh
Life of this patent
Estimating the term…
Abstract
An apparatus may include a first LIDAR, a second LIDAR, and a processor. The processor may identify contour points of an object by using or changing points obtained through any one of the first LIDAR and the second LIDAR among points obtained through the first LIDAR and included in a specific frame and points obtained through the second LIDAR and included in the specific frame, based on obtaining a signal indicating a limited space where a host vehicle is located, from the map system. The points obtained through the first LIDAR and included in the specific frame may be obtained from a same object as the points obtained through the second LIDAR and included in the specific frame.
Claims20
An apparatus comprising:
- a first sensor;
- a second sensor;
- a processor;
- and
- memory storing instructions that, when executed by the processor, cause the apparatus to:
- identify, based on sensing information of the first sensor, a plurality of first candidate contour points of a stationary object, wherein the plurality of first candidate contour points corresponds to a specific frame;
- identify, based on sensing information of the second sensor, a plurality of second candidate contour points of the stationary object, wherein the plurality of second candidate contour points corresponds to the specific frame;
- while a vehicle is driving in an area associated with a predefined type, determine, based on a direction of the stationary object from the vehicle, contour points of the stationary object, wherein the determined contour points of the stationary object are further based on:
- the plurality of first candidate contour points and an adjustment of the second candidate contour points;
- or
- the plurality of second candidate contour points and an adjustment of the first candidate contour points;
- and
- generate a signal indicating the determined contour points of the stationary object to display a location of the stationary object in a map.
10 more elements
An apparatus comprising:
- a first sensor;
- a second sensor;
- a processor;
- and
- memory storing instructions that, when executed by the processor, cause the apparatus to:
- identify, based on sensing information of the first sensor, a plurality of first candidate contour points of a stationary object, wherein the plurality of first candidate contour points corresponds to a specific frame;
- identify, based on sensing information of the second sensor, a plurality of second candidate contour points of the stationary object, wherein the plurality of second candidate contour points corresponds to the specific frame;
- and
- while a vehicle is driving in an area associated with a predefined type, adjust the plurality of first candidate contour points or the plurality of second candidate contour points to reduce a spaced distance between the plurality of first candidate contour points and the plurality of second candidate contour points,
- wherein one of the plurality of first candidate contour points and one of the plurality of second candidate contour points represent a same part of the stationary object, and
- wherein the spaced distance is determined based on a distance between the one of the plurality of first candidate contour points and the one of the plurality of second candidate contour points.
8 more elements
A method comprising:
- identifying, by a processor and based on sensing information of a first sensor, a plurality of first candidate contour points of a stationary object, wherein the plurality of first candidate contour points corresponds to a specific frame;
- identifying, by the processor and based on sensing information of a second sensor, a plurality of second candidate contour points of the stationary object, wherein the plurality of second candidate contour points corresponds to the specific frame;
- while a vehicle is driving in an area associated with a predefined type, determining, based on a direction of the stationary object from the vehicle, contour points of the stationary object, wherein the determined contour points of the stationary object are further based on:
- the plurality of first candidate contour points and an adjustment of the second candidate contour points;
- or
- the plurality of second candidate contour points and an adjustment of the first candidate contour points;
- and
- generating a signal indicating the determined contour points of the stationary object to display a location of the stationary object in a map.
5 more elements
Dependencies are inferred from the claim text.