Lidar noise removal apparatus and lidar noise removal method thereof

A LIDAR noise removal method of a LIDAR noise removal apparatus, the LIDAR noise removal apparatus receiving LIDAR detection information from a LIDAR of a vehicle, the method comprising:

• processing, by a processor, the LIDAR detection information received from the LIDAR of the vehicle;
• acquiring, by the processor, an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle;
• selecting, by the processor, a Region Of Interest (ROI) that corresponds to the sun from a front image of the vehicle based on the acquired azimuth angle and elevation angle of the sun;
• comparing, by the processor, a brightness of the selected ROI with a threshold value to determine whether the brightness of the ROI exceeds the threshold value;
• selecting, by the processor, a noise region that corresponds to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle of the sun when the brightness of the ROI exceeds the threshold value;
• and
• removing, by the processor, noise points in the selected noise region.

A vehicle, comprising:

• a LIDAR configured to sense surrounding object information of the vehicle;
• a camera configured to acquire a front image of the vehicle;
• and
• a LIDAR noise removal apparatus configured to remove noise points that correspond to sunlight incident on the LIDAR,
• wherein the LIDAR noise removal apparatus includes:
• a LIDAR detection information processor configured to process LIDAR detection information received from the LIDAR;
• a sun position acquirer configured to acquire an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle;
• a Region Of Interest (ROI) selector configured to select an ROI that corresponds to the sun from the front image of the vehicle based on the acquired azimuth angle and elevation angle of the sun and compare a brightness of the selected ROI with a threshold value to determine whether the brightness of the ROI exceeds the threshold value;
• a noise region selector configured to select a noise region that corresponds to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle of the sun when the brightness of the ROI exceeds the threshold value;
• and
• a noise remover configured to remove noise points in the selected noise region.