Abstract: A LIDAR noise removal apparatus and a LIDAR noise removal method thereof are provided. The apparatus includes a LIDAR detection information processor that processes LIDAR detection information received from a LIDAR of a vehicle. A sun position acquirer acquires an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle. An ROI selector selects an ROI corresponding to the sun from a front image of the vehicle based on the azimuth angle and elevation angle and compares a brightness of the selected ROI with a threshold value. A noise region selector selects a noise region corresponding to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle when the brightness of the ROI exceeds the threshold value, and a noise remover removes noise points in the selected noise region.

Abstract: A method of tracking an object using a LiDAR sensor includes determining, by an information determiner, based on the spacing distance between a target point and a valid neighboring point disposed adjacent to the target point in the same layer as the target point, among first points acquired by the LiDAR sensor, noise information indicating whether the target point is a noise point; and clustering, by a clustering unit, the first points using the noise information.

Abstract: An object-tracking method using a LiDAR sensor may include forming a first inclination using GPS altitude points of a vehicle driving region, detecting a driving lane using LiDAR points of a vehicle and determining a second inclination using the detected driving lane, rotating the GPS altitude points using the first inclination and the second inclination, obtaining a third inclination using a target point and a neighboring point, among the LiDAR points, the neighboring point belonging to a previous layer adjacent to a current layer to which the target point belongs, obtaining a fourth inclination using points that match the LiDAR points, among the rotated GPS altitude points, and determining the target point to be a ground point when the absolute value of the difference between the third inclination and the fourth inclination is less than a threshold inclination.

Abstract: A LIDAR noise removal apparatus and a LIDAR noise removal method thereof are provided. The apparatus includes a LIDAR detection information processor that processes LIDAR detection information received from a LIDAR of a vehicle. A sun position acquirer acquires an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle. An ROI selector selects an ROI corresponding to the sun from a front image of the vehicle based on the azimuth angle and elevation angle and compares a brightness of the selected ROI with a threshold value. A noise region selector selects a noise region corresponding to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle when the brightness of the ROI exceeds the threshold value, and a noise remover removes noise points in the selected noise region.

Abstract: Disclosed is a method for encoding/decoding a still image or moving image based on an intra-prediction mode and an apparatus supporting the same. Particularly, a method for processing an image based on an intra prediction mode may include determining an intra prediction mode set used for an intra prediction in a current prediction processing unit among multiple intra prediction mode sets having different resolutions with each other, wherein the resolution represents a degree of distribution of the intra prediction mode in the intra prediction mode set; deriving an intra prediction mode applied to the current prediction processing unit in the determined intra prediction mode set using index information received from an encoder; and generating a prediction sample of the current prediction processing unit based on the derived intra prediction mode, and each of the intra prediction mode sets includes one or more intra prediction modes.

Abstract: Disclosed is a method for encoding/decoding a still image or moving image based on an intra-prediction mode and an apparatus supporting the same. Particularly, a method for processing an image based on an intra prediction mode may include determining an intra prediction mode set used for an intra prediction in a current prediction processing unit among multiple intra prediction mode sets having different resolutions with each other, wherein the resolution represents a degree of distribution of the intra prediction mode in the intra prediction mode set; deriving an intra prediction mode applied to the current prediction processing unit in the determined intra prediction mode set using index information received from an encoder; and generating a prediction sample of the current prediction processing unit based on the derived intra prediction mode, and each of the intra prediction mode sets includes one or more intra prediction modes.