Apparatus and method for extracting feature point for recognizing obstacle using laser scanner

A method for extracting a feature to recognize an obstacle using a laser scanner, the method comprising:

• obtaining, by a controller, laser scanner data having a plurality of layers in real time from the laser scanner installed at a front of a traveling vehicle;
• separating, by the controller, the laser scanner data into a plurality of layers;
• extracting, by the controller, measurement data present in each layer;
• and
• determining, by the controller, features of the measurement data to classify a type of obstacle present at the front of the traveling vehicle based on a plurality of stored features,
• wherein the features comprise at least one of a form of the measurement data present in the layer, a number or position of measurement data present in each layer or whether the layer in which the measurement data is not present is present.

A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

• program instructions that obtain laser scanner data having a plurality of layers in real time from a laser scanner installed at a front of a traveling vehicle;
• program instructions that separate the laser scanner data into a plurality of layers;
• program instructions that extract measurement data present in each layer;
• and
• program instructions that determine features of the measurement data to classify a type of obstacle present at the front of the traveling vehicle based on a plurality of stored features,
• wherein the features comprise at least one of a form of the measurement data present in the layer, a number or position of measurement data present in each layer or whether the layer in which the measurement data is not present is present.