Lidar-based object contour and bounding box transformations and analysis for vehicle control

Abstract

A vehicle control apparatus includes a sensor, such as light detection and ranging (LiDAR), and a processor. The processor may generate a first bounding box corresponding to an external object based on contour points representing a shape of the external object, generate a second bounding box based on aligning first vertices included in the first bounding box around a reference axis, determine whether the first bounding box or the second bounding box indicates that the external object does not interfere with an operation region of the vehicle, based on the contour points, second vertices included in the second bounding box, and dynamics information of the external object.