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公开(公告)号：US10782399B2
公开(公告)日：2020-09-22
申请号：US15618662
申请日：2017-06-09
Inventor： Jong Hun Lee , Seong Kyung Kwon , Sang Hyuk Son , Eugin Hyun , Jin Hee Lee
Abstract: Provided is an object detecting method and apparatus using a light detection and ranging (LIDAR) sensor and a radar sensor, the method may include collecting LIDAR data and radar data associated with a search region in which objects are to be found using the LIDAR sensor and radar sensor, extracting each of objects present within the search region based on the collected LIDAR data and radar data, generating shadow regions of objects extracted through the LIDAR sensor and setting an ROI of LIDAR sensor based on the extracted objects, setting an ROI of radar sensor based on a reflectivity depending on a range and a movement speed of moving object among the objects extracted through the radar sensor, comparing the ROI of the LIDAR sensor to the ROI of the radar sensor, and verifying whether the moving object is present based on a result of the comparing.
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公开(公告)号：US10366282B2
公开(公告)日：2019-07-30
申请号：US15618877
申请日：2017-06-09
Inventor： Jong Hun Lee , Seong Kyung Kwon , Sang Hyuk Son , Eugin Hyun , Jin Hee Lee
Abstract: A human detection apparatus and method using low-resolution two-dimensional (2D) light detection and ranging (LIDAR) sensor are provided. The human detection method may include receiving LIDAR data generated by reflecting a laser signal that continues to be transmitted to a search region from a plurality of objects in the search region, clustering a plurality of points included in the received LIDAR data by the same objects based on a correlation between the plurality of points, deriving a characteristic function used to identify a shape of a human, based on the clustered points, and determining whether each of the objects is a human based on the derived characteristic function.
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3.发明申请公开(公告)号：US20170357850A1
公开(公告)日：2017-12-14
申请号：US15618877
申请日：2017-06-09
Inventor： Jong Hun Lee , Seong Kyung Kwon , Sang Hyuk Son , Eugin Hyun , Jin Hee Lee
CPC classification number: G06K9/00362 , G01S7/4802 , G01S7/4808 , G01S17/89 , G06T7/11
Abstract: A human detection apparatus and method using low-resolution two-dimensional (2D) light detection and ranging (LIDAR) sensor are provided. The human detection method may include receiving LIDAR data generated by reflecting a laser signal that continues to be transmitted to a search region from a plurality of objects in the search region, clustering a plurality of points included in the received LIDAR data by the same objects based on a correlation between the plurality of points, deriving a characteristic function used to identify a shape of a human, based on the clustered points, and determining whether each of the objects is a human based on the derived characteristic function.
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4.发明申请公开(公告)号：US20170356993A1
公开(公告)日：2017-12-14
申请号：US15618662
申请日：2017-06-09
Inventor： Jong Hun Lee , Seong Kyung Kwon , Sang Hyuk Son , Eugin Hyun , Jin Hee Lee
Abstract: Provided is an object detecting method and apparatus using a light detection and ranging (LIDAR) sensor and a radar sensor, the method may include collecting LIDAR data and radar data associated with a search region in which objects are to be found using the LIDAR sensor and radar sensor, extracting each of objects present within the search region based on the collected LIDAR data and radar data, generating shadow regions of objects extracted through the LIDAR sensor and setting an ROI of LIDAR sensor based on the extracted objects, setting an ROI of radar sensor based on a reflectivity depending on a range and a movement speed of moving object among the objects extracted through the radar sensor, comparing the ROI of the LIDAR sensor to the ROI of the radar sensor, and verifying whether the moving object is present based on a result of the comparing.
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