Sensor fusion-based object detection system and method for objects with a complex shape or large-size

Abstract

The present invention relates to a sensor fusion object detection system and method of deriving the object segmentation information including segmented point segments for each object by clustering a point cloud obtained from a LIDAR sensor, deriving object recognition information for each object from an image obtained from a camera sensor, and deriving object point groups using a graph-based probability optimization technique based on a first probability as to whether each point segment calculated based on the object segmentation information and the object recognition information correspond to a particular object and a second probability as to whether two different point segments correspond to the same object and merged as one. According to the object detection system and method according to the present invention, there is an effect that it is possible to accurately detect an object having a complex shape or a large size.