Patent Document ID: 9517768
Application ID: 14304588
Patent Status: 1

Claim One:
1. A vehicle for supporting an object processing, the vehicle comprising: a lidar sensor configured to collect multi-layer data corresponding to sensor information for a lateral surface for each vertical interval; and a controller configured to classify objects by clustering each layer for the multi-layer data, extract contours and shapes of the objects and then control a convergence of the objects based on a calculated value of a Mahalanobis distance between the clustered objects, wherein the controller checks whether or not the objects are overlapped and calculates the Mahalanobis distance in a case in which the objects are overlapped, and wherein the controller converges two objects used for the Mahalanobis distance calculation in a case in which the Mahalanobis distance is equal to or less than a reference value and classifies the two objects into different objects in a case in which the Mahalanobis distance is larger than the reference value.