Abstract: A method for detecting a guard-rail on a road, which is performed by a guard-rail detection device, is provided. The method includes acquiring points around a lidar sensor from the lidar sensor, detecting ground points based on the acquired points, arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere, and detecting the guard-rail based on the voxels and the first points.

Abstract: A method for determining a lane change, performed by an apparatus for determining a lane change of an object located around a driving vehicle with which is equipped a sensor, the method including, detecting a plurality of objects located around the driving vehicle using scanning information obtained repeatedly at every predetermined period of time by the sensor scanning surroundings of the driving vehicle, selecting at least one candidate object estimated to change lanes among the plurality of objects based on previously detected lane edge information and determining whether the candidate object changes lanes based on information on movement of the candidate object.

Abstract: A method for detecting a crosswalk using a crosswalk detection device is provided. The method includes acquiring point data around a lidar sensor from the lidar sensor, detecting one or more crosswalk points among a plurality of points included in the point data based on intensities of the plurality of points; and detecting the crosswalk based on positions of the detected crosswalk points.

Abstract: A method for generating a dynamic map, which is performed by a dynamic map generation apparatus, is provided. The method includes arranging point data acquired from a lidar sensor in a plurality of cells included in a voxel, calculating a point occupation frequency change of each of the plurality of cells according to an attribute and a status of each of the plurality of cells, and generating the dynamic map by using, among the plurality of cells, background cells in each of which a value accumulating the point occupation frequency change is equal to or greater than a predetermined threshold.

Abstract: A method for detecting a guard-rail on a road, which is performed by a guard-rail detection device, is provided. The method includes acquiring points around a lidar sensor from the lidar sensor, detecting ground points based on the acquired points, arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere, and detecting the guard-rail based on the voxels and the first points.

Abstract: A method for detecting a traffic sign using a traffic sign detection device is provided. The method includes acquiring point data from a lidar sensor detecting a vicinity of the lidar sensor; clustering a plurality of points based on positions of the plurality of points included in the point data; determining one or more plane object clusters, each of which corresponds to a plane object, among one or more clusters, each of which is formed by clustering the plurality of points; and detecting one or more traffic sign object clusters, each of which corresponds to the traffic sign, among the one or more plane object clusters based on a predetermined traffic sign detection factor.

Abstract: A method of detecting a ground that is performed by a ground detection device is provided. The method includes arranging points obtained from a lidar sensor in a plurality of cells included in a circular grid map, generating a profile value for each of the plurality of cells using heights of the points; and detecting around points arranged in each of the plurality of cells using the profile values.

Abstract: A method for determining a lane change, performed by an apparatus for determining a lane change of an object located around a driving vehicle with which is equipped a sensor, the method including, detecting a plurality of objects located around the driving vehicle using scanning information obtained repeatedly at every predetermined period of time by the sensor scanning surroundings of the driving vehicle, selecting at least one candidate object estimated to change lanes among the plurality of objects based on previously detected lane edge information and determining whether the candidate object changes lanes based on information on movement of the candidate object.

Abstract: A method for detecting a lane line of a lane on a road using a lane detection device is provided. The method includes obtaining, from a lidar sensor, point data by scanning the surroundings of the lidar sensor, detecting one or more lane line points constituting the lane line from among a plurality of points included in the point data using a threshold set based on a driving situation of a driving vehicle equipped with the lane detection device, and detecting the lane line using the one or more lane line points.

Abstract: A method of detecting a road-curb that is performed by a road-curb detecting apparatus is provided. The method includes obtaining points around a lidar sensor from the lidar sensor, arranging the points in a plurality of cells into which a circular grid map is divided, and detecting the road-curb based on the points arranged in the plurality of cells.

Abstract: An object shape detection method. The method includes determining an area estimated as one object from scanning information obtained by scanning around the moving object; obtaining line information of the one object; generating pattern shapes each of which one side includes at least part of the line information; and selecting a representative pattern shape of the one object corresponding to a shape of an object by using the scanning information.

Abstract: A method of detecting a tunnel or an overpass performed by a tunnel detection apparatus. The method includes obtaining multi-layer data divided up and down from a LiDAR sensor and detecting entry or exit of the tunnel or the overpass around a moving object on which the tunnel detection apparatus is mounted based on distance information indicated by each of at least some layer data among the multi-layer data.