Method for extracting outline of building in vehicle and vehicle thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorMi Rim Noh
Life of this patent
Estimating the term…
Abstract
An object outline extracting method for a vehicle includes: as light detection and ranging (lidar) data is received, determining a reference point based on positions of points in global quadrants generated based on the vehicle and local quadrants generated based on a cluster box of an object, and detecting the object; extracting representative points of the points and outer points of the object; determining a position of a second point with respect to a first straight line connecting a first point and a third point among the outer points; and determining the second point as an outer point of the object or as a noise point based on the position of the second point with respect to the first straight line.
Claims20
An object outline extracting method for a vehicle, including:
- obtaining, by a lidar sensor mounted on the vehicle, light detection and ranging (lidar) data;
- determining, by a controller of the vehicle, object points for an object from the lidar data;
- determining, by the controller of the vehicle, a reference point outside a cluster box which encompasses the object points based on positions of the object points in global quadrants of a vehicle coordinate system and an occupancy of the object points in local quadrants of a local coordinate system, the vehicle coordinate system defined based on the vehicle and the local coordinate system defined based on the cluster box;
- and
- extracting, by the controller of the vehicle, outer points of the object from the object points based on the reference point.
A vehicle, comprising:
- a light detection and ranging (lidar) sensor;
- and
- a controller connected in data communication to the lidar sensor,
- wherein the controller is configured to perform:
- as lidar data is received from the lidar sensor, determining object points for an object from the lidar data;
- determining a reference point outside a cluster box which encompasses the object points based on positions of the object points in global quadrants of a vehicle coordinate system and an occupancy of the object points in local quadrants of a local coordinate system, the vehicle coordinate system defined based on the vehicle and the local coordinate system defined based on the cluster box;
- and
- extracting outer points of the object from the object points based on the reference point.
Dependencies are inferred from the claim text.