Patent ID: 11971961
Assignee: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Measurement (Instruments)
Classification: CPC G  B | IPC G

Claim 5:
6. An apparatus for data fusion between heterogeneous sensors, comprising:
a processor configured to perform data fusion between a camera sensor and a LiDAR sensor,
wherein the processor is configured to:
identify image data and point cloud data for a search area by each of the camera sensor and the LiDAR sensor that are calibrated using a marker board having a hole;
recognize a translation vector determined through calibrating of the camera sensor and the LiDAR sensor; and
project the point cloud data of the LiDAR sensor onto the image data of the camera sensor using the recognized translation vector to fuse the identified image data and point cloud data,
wherein the translation vector is determined based on a first distance from the camera sensor to the marker board and a second distance from the LiDAR sensor to the marker board, and
wherein the first and the second distances are determined using a focal length of the camera sensor, a radius of the hole in the marker board, and a radius of the hole recognized through each of the camera sensor and the LiDAR sensor.