Hyundai Motor Company

Kia Motors Corporation

Kia Corporation

Ju Heon Baeg

Byoung Kwang Kim

Mi Rim Noh

A method of analyzing the shape of an object using a LiDAR sensor includes determining the first to Mshapes of first to Mlayers (where M is a positive integer of 2 or more) related to a target object using clustered LiDAR points and analyzing the determined first to Mshapes according to a predetermined priority to determine the shape of the target object.

Method of analyzing a shape of an object and an apparatus for tracking an object using a LiDAR sensor

An object orientation determination method includes generating pixel data on each of a plurality of unit pixels included in a region of interest of a point cloud acquired from an object, generating a plurality of candidate boxes using the generated pixel data, and determining, as a heading angle of an oriented bounding box, an inclination of a candidate box having a smallest cost among costs calculated on the plurality of candidate boxes. A cost of each of the plurality of candidate boxes is calculated based on positions of respective sides of a corresponding one of the plurality of candidate boxes and the pixel data.

Method of determining an orientation of an object and a method and apparatus for tracking an object

A free space detection apparatus for a vehicle is provided to detect a free space based on a lidar sensor and recognize a driving environment. The apparatus includes a point data processor that removes noise of point data acquired from the LIDAR sensor and derives a half line with respect to an obstacle point from which noise has been removed based on coordinates of the obstacle point. A map processor generates a map for space classification, checks whether the obstacle point or the half line with respect to the obstacle point is present in a cell of the map and determines cell states of the map. A free space detector detects a free space based on the cell states of the map.

Free space detection apparatus and free space detection method

An apparatus for recognizing an object based on a lidar sensor and a method thereof can extract a valid contour point of an object from a point cloud generated by the lidar sensor and recognize a shape of the object based on a contour line composed of the extracted valid contour point of the object, such that it is possible to recognize the shape of an object located on a road with high accuracy, thereby improving the driving stability of an autonomous vehicle. The apparatus includes the lidar sensor that generates the point cloud around an autonomous vehicle, and a controller that extracts the valid contour point of the object from the point cloud and recognizes the shape of the object based on the contour line composed of the extracted valid contour point.

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Seoul, South Korea

Ju Heon Baeg