Patent ID: 11960005
Assignee: KIA CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method of tracking an object using a LiDAR sensor, the method comprising:
determining a reference point of an associated segment box related to a target object, generated from point cloud data;
checking an association between points of the associated segment box and history shape information accumulated prior to a current time with respect to the target object and generating information on points of a current tracking box at the current time that match points of the associated segment box using the association;
determining a heading of the current tracking box using heading information included in the history shape information based on a reference point among the points of the current tracking box;
obtaining a length and a width of the current tracking box using the determined heading; and
updating information on a tracking box generated prior to the current time, included in the history shape information, using the heading, the length and the width of the current tracking box, and determining the tracking box having the updated information to be a final output box containing information on a shape of the target object.