Apparatus for recognizing an object and a method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorBo Young Yun
Life of this patent
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Abstract
An object recognition apparatus includes a LIDAR, a camera, a radar, and a processor. The processor may identify a LIDAR track, identify a fusion track, and generate a synthetic fusion track including at least one of a longitudinal position, a lateral position, a width, a length, or a heading represented by the fusion track and corresponding to the object based on determining that at least one of the following conditions is satisfied: a distribution shape of LIDAR points included in the LIDAR track satisfies a distribution condition, a width of the fusion track satisfies a width condition, a ratio of a width of the LIDAR track to the width of the fusion track satisfies a ratio condition, or class information of the object according to the fusion track satisfies a class condition.
Claims20
An object recognition apparatus comprising:
- a light detection and ranging (LIDAR) device;
- a camera;
- a radar;
- and
- a processor,
- wherein the processor is configured to:
- identify a LIDAR track obtained through the LIDAR device and corresponding to an object outside of a host vehicle;
- identify a fusion track obtained through at least one of the radar or the camera and corresponding to the object;
- and
- generate a synthetic fusion track including at least one of a longitudinal position, a lateral position, a width, a length, or a heading represented by the fusion track and corresponding to the object based on determining that at least one of the following conditions is satisfied:
- a distribution shape of LIDAR points included in the LIDAR track satisfies a distribution condition,
- a width of the fusion track satisfies a width condition,
- a ratio of a width of the LIDAR track to the width of the fusion track satisfies a ratio condition, or
- class information of the object according to the fusion track satisfies a class condition.
An object recognition method comprising:
- identifying a LIDAR track obtained through a LIDAR device and corresponding to an object outside of a host vehicle;
- identifying a fusion track obtained through at least one of a radar or a camera and corresponding to the object;
- and
- generating a synthetic fusion track including at least one of a longitudinal position, a lateral position, a width, a length, or a heading represented by the fusion track and corresponding to the object based on determining that at least one of the following conditions is satisfied:
- a distribution shape of LIDAR points included in the LIDAR track satisfies a distribution condition,
- a width of the fusion track satisfies a width condition,
- a ratio of a width of the LIDAR track to the width of the fusion track satisfies a ratio condition, or
- class information of the object according to the fusion track satisfies a class condition.
Dependencies are inferred from the claim text.