Patent ID: 11922670
Assignee: HYUNDAI MOTOR COMPANY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 7:
8. A method for extracting an outline of a static object, the method comprising:
deriving a regression line being a point selection criterion, using points forming consecutive segments, when the segments interconnecting the points obtained from a LiDAR sensor have linearity to be consecutively connected to each other;
calculating a separation distance where each point is vertically away from the regression line and comparing the separation distance with a reference distance to select a removal point to be deleted and a valid point to remain; and
generating and extracting the outline of the static object by connecting the remaining valid points,
wherein the method further comprising:
selecting points among the points forming consecutive segments, of the segments, as the start point and the end point to generate the regression line, when at least two segments have linearity to be consecutively connected to each other wherein the selecting of the points forming the consecutive segments as the start point and the end point includes:
calculating an angle between the segments adjacent to each other,
selecting an i-1th point, which is a start point of a segment including an ith point, as the start point of the regression line, when an angle between segments at both sides with respect to the ith point is greater than the reference angle, and
selecting a jth point as the end point of the regression line, when an angle between segments at both sides with respect to the jth point is less than or equal to the reference angle and when there is the start point before the jth point.