Patent ID: 11884303
Assignee: VUERON TECHNOLOGY CO., LTD
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 12:
13. The method of claim 12, wherein the detecting of the side of the candidate object comprises:
calculating a perpendicular distance between each of the initial side candidate planes and each of a plurality of scanning points that are not included in the corresponding initial side candidate plane;
selecting the corresponding scanning point as an inlier point if the perpendicular distance is less than a predetermined perpendicular distance threshold value;
selecting an initial side candidate plane having a largest number of selected inlier points among the plurality of generated initial side candidate planes as a final side candidate plane; and
determining the final side candidate plane as the side surface of the candidate object if an angle between the final side candidate plane and a line circumscribing the detected lane edge is less than a predetermined angle threshold value.