Method and system for recongizing space
AssigneesHyundai Motor Company, Kia Corporation
InventorKyeon Ji Kim
Life of this patent
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Abstract
According to an embodiment of the present disclosure, a method for recognizing a free-space around a vehicle comprises determining a corner point from cluster points of an object based on a line segment connecting a first point and a second point of the cluster points obtained by clustering Light Detection and Ranging (LiDAR) points, determining a segment parameter according to a distance between the line segment and the corner point based on cluster points located at both sides of the corner point, and generating an L-shaped contour of the object based on the segment parameter to output spatial information including contour information.
Claims20
A method of recognizing a free-space around a vehicle, the method comprising:
- determining a corner point from cluster points of an object based on a line segment connecting a first point and a second point of the cluster points obtained by clustering Light Detection and Ranging (LiDAR) points;
- determining a segment parameter according to a distance between the line segment and the corner point based on the cluster points located at both sides of the corner point;
- and
- generating an L-shaped contour of the object based on the segment parameter to output spatial information including contour information.
A free-space recognizing system comprising:
- an interface configured to obtain Light Detection and Ranging (LiDAR) points from a LiDAR sensor;
- and
- a processor connected to the interface electrically or communicatively,
- wherein the processor is configured to perform:
- determining a corner point from cluster points of an object based on a segment connecting a first point and a second point among the cluster points obtained by clustering the LiDAR points;
- determining a segment parameter according to a distance between the segment and the corner point based on the cluster points located at both sides of the corner point;
- and
- generating an L-shaped contour of the object based on the segment parameter to output spatial information including contour information.
Dependencies are inferred from the claim text.