Abstract: The present disclosure relates to a method and a system for detecting an object. A method of detecting an object, according to an embodiment of the present disclosure, includes determining whether the object in a region of interest of a (host) vehicle is in a turning state or a straight moving state, determining a location of a reference point for the object based on the determination, extracting first outline points from LiDAR points for the object, which are included in a point cloud received from a LiDAR sensor, based on the reference point, generating at least one virtual point based on a length of a line segment connecting the first outline points, and generating a bounding box of the object corresponding to a heading direction of the object based on second outline points including the first outline points and the at least one virtual point.

Abstract: A system comprises a LiDAR sensor and a processor coupled to the LiDAR. The processor is configured to derive a regression line, and generate the outline of the static object by connecting the classified valid points except for the classified removal points. Wherein the processor is further configured to calculate an angle defined by one segment and another segment adjacent to the segment, select an i-lth point, which is a start point of a segment including an ith point, as a start point, when an angle between segments at both sides with respect to the ith point is greater than the reference angle, and select a jth point as an end point, when an angle between segments at both sides with respect to the jth point is less than or equal to the reference angle and when there is the start point before the jth point.

Abstract: An object outline extracting method for a vehicle includes: as light detection and ranging (lidar) data is received, determining a reference point based on positions of points in global quadrants generated based on the vehicle and local quadrants generated based on a cluster box of an object, and detecting the object; extracting representative points of the points and outer points of the object; determining a position of a second point with respect to a first straight line connecting a first point and a third point among the outer points; and determining the second point as an outer point of the object or as a noise point based on the position of the second point with respect to the first straight line.

Abstract: An object outline extracting method for a vehicle includes: detecting distributed positions of points in global quadrants generated based on a subject vehicle, as light detection and ranging (LiDAR) data is received; analyzing the distributed positions of the points and determining whether the points are distributed in a preset area based on a result value obtained from the analyzing; when it is determined that the points are distributed in the preset area, resetting a reference boundary of the global quadrants; and generating an object contour by connecting points found based on the reset reference boundary.

Abstract: A Light Detection And Ranging (LiDAR)-based object detection apparatus comprising a LiDAR sensor configured to obtain a point cloud, and a processor configured to detect at least one object of interest from the point cloud, wherein the processor is configured to perform determining representative points from LiDAR points corresponding to the object among the point cloud, determining outer points among the representative points, the outer points defining an outline of the object, and determining a confidence score for each of segments connecting at least two of the outer points.

Abstract: The present disclosure relates to a method of analyzing a shape of an object by use of LiDAR and a device for tracking an object according to the same. A method for analyzing a shape of an object by use of LiDAR, according to an embodiment of the present disclosure, comprises obtaining first to Mth (M is an integer of 2 or greater) layers of LiDAR points spaced apart in a vertical direction with respect to an object by the LiDAR sensor, obtaining LiDAR points of a whole layer by projecting whole LiDAR points for the object or LiDAR points of the first to Mth layers onto the whole layer, and determining shape flags for the first to Mth layers and the whole layer, respectively, each by use of at least a part of corresponding LiDAR points of each layer according to a plurality of predetermined shape types, and determining a shape flag of the object.

Abstract: The present disclosure relates to a method of analyzing a shape of an object and a device for tracking an object with LiDAR. A method for analyzing a shape of an object by use of LiDAR, according to an embodiment of the present disclosure, comprises obtaining a plurality of layers of LiDAR points for the object by use of the LiDAR, determining a shape flag for each of the layers by use of at least a part of LiDAR points thereon according to a plurality of predetermined shape types, calculating a confidence score for the shape flag determined for each of the layers by use of the at least part of LiDAR points; and determining a shape flag of the object by use of the shape flags determined for the plurality of layers and the confidence scores.

Abstract: An object detection method of a vehicle lidar system according to an embodiment includes, in a contour of an object to be separated formed by connecting peak points among point data of the object to be separated, determining a contour line in which a connecting section of a contour line connecting the peak points includes point data equal to or less than a reference, and setting a separation reference line for separating the contour of the object to be separated into two regions while passing through the contour line including the point data equal to or less than the reference to recognize point data of the two regions as respective objects.

Abstract: 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.

Abstract: A method of analyzing the shape of an object using a LiDAR sensor includes determining the first to Mth shapes of first to Mth layers (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 Mth shapes according to a predetermined priority to determine the shape of the target object.

Abstract: A device and method are configured to selectively remove specific points included in multiple layers of data received from a sensor. A vehicle may include a LiDAR sensor as the sensor, and a signal processor configured to select a static object included in the multiple layers, to select target layers from among the multiple layers, to define a shape formed by points included in each of the selected target layers, to select a reference layer based on the shape formed by the points, and to remove, based on a distance between a contour formed by the reference layer and each of points of remaining layers and a reference distance, corresponding points from at least one of the remaining layers.

Abstract: A system for extracting an outline of a static object generates a regression line on the basis of continuity of angles between segments interconnecting points obtained from a LiDAR sensor, which indicates a boundary of a static object, removes points where a distance departing from the regression line is greater than or equal to a certain reference distance, and extracts an outline composed of remaining valid points, thus removing points caused by forest or the like except for the static object to be recognized among points clustered and recognized as one object together with the static object, such as a guardrail or a building, and extracting the outline of the static object to be recognized at high reliability.

Abstract: 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.