Patent ID: 11960027
Assignee: KIA MOTORS CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. A segment merging method of a LIDAR data based object recognition apparatus, the segment merging method comprising:
generating, by a processor, a plurality of segments by grouping points of a point cloud acquired from a LIDAR sensor;
selecting, by the processor, a target segment among the plurality of segments, wherein the selecting of the target segment includes:
checking, by the processor, a longitudinal length and a lateral length of a segment;
checking, by the processor, whether the lateral length of the segment satisfies a first condition;
checking, by the processor, whether the longitudinal length of the segment satisfies a second condition when the lateral length of the segment satisfies the first condition; and
selecting, by the processor, the segment as a tar get 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; and
wherein the second condition is that the longitudinal length of the segment is greater than a second reference value corresponding to a minimum longitudinal length of a small vehicle and less than a third reference value corresponding to a maximum longitudinal length of the small vehicle;

checking, by the processor, whether others than the target segment are mergeable segments;
determining, by the processor, whether to merge the target segment and the mergeable segments based on attribute information of the target segment and the mergeable segments; and
merging, by the processor, the target segment and the mergeable segments to output a merged segment.