Patent ID: 9154741
Filing Date: 2015-10-06
Classification: G01S,G06K,G08G,H04N

Abstract:
1. An apparatus for processing data of heterogeneous sensors in an integrated manner to classify one or more objects on a road and detect locations of the objects, the apparatus comprising: a camera image processing unit configured to generate results of processing of camera images based on the camera images collected from one or more cameras installed on the road; a scanning information processing unit configured to generate results of processing of scanning information based on the scanning information collected from one or more laser scanners installed on the road; and an integrated processing unit configured to generate types and final locations of the objects located on the road by processing the generated results of the processing of the camera images and the generated results of the processing of the scanning information in an integrated manner; wherein the integrated processing unit: maps the objects on the road to an integrated object sensing map composed of grid cells based on the results of the processing of the camera images and the results of the processing of the scanning information; calculates a period and probability of each of grid cells of the integrated object sensing map, to which the objects have been mapped, being occupied; if the calculated probability of being occupied is equal to or higher than a set threshold value, determines an identity for each grid cell by comparing an object type ID of an object occupying the grid cell with an object ID of the object, and, if the identity for each grid cell is normal, sets an object type ID for the grid cell; and sets an average representative location of estimated locations of the results of processing of the laser scanner-related information as a final location of a corresponding object.