Patent ID: 11954915
Assignee: VUERON TECHNOLOGY CO., LTD
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 1:
2. The method of claim 1, wherein the detecting of the guard-rail comprises:
generating a plurality of voxel groups by classifying voxels, having a same theta direction coordinate and a same phi direction coordinate, as a same group among the voxels in which the first points are arranged;
selecting a closest voxel from the LIDAR sensor among the voxels in each of the plurality of voxel groups as a directional representative voxel for each of the plurality of voxel groups;
determining whether the respective directional representative voxels for the plurality of voxel groups satisfy planeness;
selecting, among the respective directional representative voxels for the plurality of voxel groups, directional representative voxels satisfying planeness as guard-rail candidate voxels; and
selecting a guard-rail candidate by connecting the guard-rail candidate voxels.