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

Claim 14:
15. A vehicle, comprising:
a LIDAR sensor; and
an object recognition apparatus configured to recognize an object by merging over-segmented segments based on points acquired from the LIDAR sensor,
wherein the object recognition apparatus is configured to:
generate a plurality of segments by grouping points of a point cloud acquired from a LIDAR sensor;
select a target segment among the plurality of segments by:
checking a longitudinal length and a lateral length of a segment;
checking whether the lateral length of the segment satisfies a first condition;
checking whether the longitudinal length of the segment satisfies a second condition when the lateral length of the segment satisfies the first condition; and
selecting the segment as a target 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;

check whether segments other than the target segment among the plurality of segments are mergeable segments; and
determine whether to merge the target segment and the mergeable segments based on attribute information of the target segment and the mergeable segments, and to merge the target segment and the mergeable segments to output a merged segment.