Patent ID: 11960027
Assignee: HYUNDAI MOTOR COMPANY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A LIDAR data based object recognition apparatus, comprising:
a segment generator configured to generate a plurality of segments by grouping points of a point cloud acquired from a LIDAR sensor;
a target segment selector configured to select a target segment among the plurality of segments by:
checking a longitudinal length and a lateral length of a segment;
checking whether the lateral length of the segment satisfies a first condition;
checking whether the longitudinal length of the segment satisfies a second condition when the lateral length of the segment satisfies the first condition; and
selecting the segment as a target segment when the longitudinal length of the segment satisfies the second condition;
wherein the first condition is that the lateral length of the segment is less than a first reference value corresponding to a vehicle width;

a segment merging determination unit configured to check whether segments other than the target segment among the plurality of segments are mergeable segments and determine whether to merge the target segment and the mergeable segments based on attribute information of the target segment and the mergeable segments; and
a segment merger configured to merge the target segment and the mergeable segments to output a merged segment.