Multi-channel lidar sensor module
AssigneeSOS LAB Co., Ltd.
InventorsJi Seong JEONG, Jun Hwan JANG, Dong Kyu KIM, Sung Ui HWANG, Bum Sik WON, Gwang Bin KIM
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Abstract
The present invention relates to a multi-channel lidar sensor module capable of measuring at least two target objects using one image sensor. The multi-channel lidar sensor module according to an embodiment of the present invention includes at least one pair of light emitting units configured to emit laser beams and a light receiving unit formed between the at least one pair of emitting units and configured to receive at least one pair of reflected laser beams which are emitted from the at least one pair of light emitting units and reflected by target objects.
Claims13
An object information acquiring apparatus configured to acquire object information including type information and distance information related to an object, the apparatus comprising:
- a camera module configured to capture a periphery thereof;
- a laser module configured to emit a laser beam in a form of line shape extending in a direction of a horizontal axis, wherein the laser module is disposed to be spaced apart from the camera module in a direction of a perpendicular axis;
- and
- a controller configured to acquire a first image captured by the camera module at an emission timing of the laser module and a second image captured by the camera module at a non-emission timing of the laser module, acquire when the first image is acquired, distance information related to an object included in the first image based on a position of the laser beam in the first image along the perpendicular axis, and when the second image is acquired, acquire type information related to an object included in the second image based on a pixel value of the second image.
A method of acquiring object information to be performed by an object information acquiring apparatus comprising a camera module configured to capture a periphery thereof and a laser module configured to emit a laser beam in a form of line shape extending in a direction of a horizontal axis, wherein the laser module is disposed to be spaced apart from the camera module in a direction of a perpendicular axis, the method comprising:
- acquiring a first image captured by the camera module at an emission timing of the laser module and a second image captured by the camera module at a non-emission timing of the laser module;
- acquiring distance information related to an object included in the first image based on a position of the laser beam along the perpendicular axis on the first image;
- determining whether a distance from the object information acquiring apparatus to the object is within a predetermined distance;
- and
- when the distance from the object information acquiring apparatus to the object is within the predetermined distance, acquiring type information related to an object included in the second image based on a pixel value of the second image.
A method of acquiring object information to be performed by an object information acquiring apparatus comprising a camera module configured to capture a periphery thereof and a laser module configured to emit a laser beam in a form of line shape extending in a direction of a horizontal axis, wherein the laser module is disposed to be spaced apart from the camera module in a direction of a perpendicular axis, the method comprising:
- acquiring a first image captured by the camera module at an emission timing of the laser module and a second image captured by the camera module at a non-emission timing of the laser module;
- acquiring type information related to an object included in the second image based on a pixel value of the second image;
- determining whether an object corresponding to a predetermined classification value is included in the second image;
- and
- when the object corresponding to a predetermined classification value is included in the second image, acquiring distance information related to an object included in the first image based on a position of the laser beam along the perpendicular axis on the first image.
Dependencies are inferred from the claim text.