Method for detecting guard-rail using lidar sensor and guard-rail detection device performing the method
AssigneeVueron Technology Co., Ltd
InventorsJaekwang KIM, Seungyong LEE
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Abstract
A method for detecting a guard-rail on a road, which is performed by a guard-rail detection device, is provided. The method includes acquiring points around a lidar sensor from the lidar sensor, detecting ground points based on the acquired points, arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere, and detecting the guard-rail based on the voxels and the first points.
Claims19
A method for detecting a guard-rail on a road, which is performed by a guard-rail detection device, the method comprising:
- acquiring points around a lidar sensor from the lidar sensor;
- detecting ground points based on the acquired points;
- arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere;
- and
- detecting the guard-rail based on the voxels and the first points.
A guard-rail detection device comprising:
- a lidar sensor configured to acquire points around the lidar sensor;
- and
- a processor configured to detect ground points based on the acquired points, arrange, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere, and detect a guard-rail based on the voxels and the first points.
A non-transitory computer-readable storage medium storing computer-executable instructions which cause, when executed by a processor, the processor to perform a method for detecting a guard-rail on a road by using a guard-rail detection device, the method comprising:
- acquiring points around a lidar sensor from the lidar sensor;
- detecting ground points based on the acquired points;
- arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere;
- and
- detecting the guard-rail based on the voxels and the first points.
Dependencies are inferred from the claim text.