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

Claim 9:
10. A segment meriting method of a LIDAR data based object recognition apparatus, the segment merging method comprising:
generating, by a processor, a plurality of segments by performing a same segmentation process of grouping points of a point cloud acquired from a LIDAR sensor;
selecting, by the processor, a target segment among the plurality of segments;, 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 generated by the same segmentation process to output a merged segment;
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 target segment when the longitudinal length of the segment satisfies the second condition;

wherein the checking of whether the lateral length of the segment satisfies the first condition includes:
checking, the processor, whether the longitudinal length of the segment satisfies a third condition when the lateral length of the segment does not satisfy the first condition; and
selecting, by the processor, the segment as a target segment when the longitudinal length of the segment satisfies the third condition;

wherein the third condition is that the longitudinal length of the segment is greater that a fourth reference value corresponds to a minimum longitudinal length of a vehicle larger than a small vehicle and less than a fifth reference value corresponds to a maximum longitudinal length of the vehicle larger than the small vehicle.