Distant LiDAR position correction system and method using reflector

A computing device comprising:

• a processor;
• and
• a memory communicating with the processor,
• wherein the memory stores commands for causing the processor to perform operations,
• the operations include an operation of calculating an external matrix for each LiDAR sensor by using normal vectors for a plurality of first planar objects in point cloud data collected from a plurality of LiDAR sensors, an operation of extracting a common second planar object in the point cloud data received from each LiDAR sensor for which correction is performed using the external matrix, and an operation of performing registration for the plurality of LiDAR sensors by using the extracted second planar object, and
• the first planar object is arranged in each sensing direction of the LiDAR sensor,
• wherein the operation of calculating the external matrix includes:
• an operation of extracting the first planar object by filtering points in the collected point cloud data according to a critical reflection intensity;
• and
• an operation of calculating the external matrix by using a normal vector for a center point of the extracted points, and
• wherein the operation of performing registration includes an operation of calculating a second external matrix for correcting a difference in relative position between the LiDAR sensors by using a common object in second vision data obtained from the plurality of LiDAR sensors.