Object detecting method and apparatus using light detection and ranging (lidar) sensor and radar sensor

Patent metadata

Field	Value
Publication number	US-2017356993-A1
Application number	US-201715618662-A
Country	US
Kind code	A1
Filing date	Jun 9, 2017
Priority date	Jun 9, 2016
Publication date	Dec 14, 2017
Grant date	—

Abstract

Provided is an object detecting method and apparatus using a light detection and ranging (LIDAR) sensor and a radar sensor, the method may include collecting LIDAR data and radar data associated with a search region in which objects are to be found using the LIDAR sensor and radar sensor, extracting each of objects present within the search region based on the collected LIDAR data and radar data, generating shadow regions of objects extracted through the LIDAR sensor and setting an ROI of LIDAR sensor based on the extracted objects, setting an ROI of radar sensor based on a reflectivity depending on a range and a movement speed of moving object among the objects extracted through the radar sensor, comparing the ROI of the LIDAR sensor to the ROI of the radar sensor, and verifying whether the moving object is present based on a result of the comparing.

First claim

What is claimed is:

1 . An object detecting method performed by a processor using a light detection and ranging (LIDAR) sensor and a radar sensor, the method comprising:
collecting LIDAR data and radar data associated with a search region in which objects are to be found using the LIDAR sensor and the radar sensor; extracting each of the objects present within the search region based on the collected LIDAR data and the collected radar data; generating shadow regions of the objects extracted through the LIDAR sensor and setting a region of interest (ROI) of the LIDAR sensor based on the extracted objects; setting an ROI of the radar sensor based on a reflectivity depending on a range and a movement speed of a moving object among the objects extracted through the radar sensor; comparing the ROI of the LIDAR sensor to the ROI of the radar sensor; and verifying whether the moving object is present based on a result of the comparing of the ROI of the LIDAR sensor to the ROI of the radar sensor.

2 . The method of claim 1 , wherein the comparing comprises verifying whether the ROI of the LIDAR sensor overlaps the ROI of the radar sensor, and
the verifying comprises verifying that the moving object is present within an overlapping ROI based on verification that the ROI of the LIDAR sensor overlaps the ROI of the radar sensor.

3 . The method of claim 1 , wherein the comparing comprises verifying whether a shadow region associated with the LIDAR sensor overlaps the ROI of the radar sensor when the set ROI of the LIDAR sensor does not overlap the ROI of the radar sensor, and
the verifying comprises verifying that the moving object is present within an overlapping shadow region based on verification that the shadow region associated with the LIDAR sensor overlaps the ROI of the radar sensor.

4 . The method of claim 1 , further comprising:
displaying the moving object, and wherein the displaying comprises displaying the moving object on a display of the LIDAR sensor based on information on a horizontal angle of the moving object extracted through the LIDAR sensor and information on a range from the radar sensor to the moving object extracted through the radar sensor.

5 . The method of claim 1 , wherein the setting of the ROI of the LIDAR sensor comprises setting a lateral size of the ROI of the LIDAR sensor to be a predetermined size determined based on a unique accuracy of the LIDAR sensor, and variably setting a longitudinal size of the ROI of the LIDAR sensor based on a relative range between a target and the LIDAR sensor.

6 . The method of claim 1 , wherein the setting of the ROI of the radar sensor comprises setting a longitudinal size of the ROI of the radar sensor to be a predetermined size determined based on a unique accuracy of the radar sensor, and variably setting a lateral size of the ROI of the radar sensor based on a relative range between a target and the radar sensor.

7 . The method of claim 1 , further comprising:
correcting errors of coordinates associated with the LIDAR data received from the LIDAR sensor and the radar data received from the radar sensor based on offsets caused by initial locations of the LIDAR sensor and the radar sensor, and wherein the extracting comprises extracting each of the objects present within the search range based on the LIDAR data and the radar data in which the errors of coordinates are corrected.

8 . A non-transitory computer-readable recording medium storing computer-readable instructions to cause at least one processor to implement the method of claim 1 .

9 . An object detecting apparatus using a light detection and ranging (LIDAR) sensor and a radar sensor, the apparatus comprising:
a processor, the processor comprising: a collector configured to collect LIDAR data and radar data associated with a search region in which objects are to be found using the LIDAR sensor and the radar sensor; an extractor configured to extract each of the objects present within the search region based on the collected LIDAR data and the collected radar data; a setter configured to generate shadow regions of the objects extracted through the LIDAR sensor, set a region of interest (ROI) of the LIDAR sensor based on the extracted objects, and set an ROI of the radar sensor based on a reflectivity depending on a range and a movement speed of a moving object among the objects extracted through the radar sensor; a comparer configured to compare the ROI of the LIDAR sensor to the ROI of the radar sensor; and a verifier configured to verify whether the moving object is present based on a result of the comparing of the ROI of the LIDAR sensor to the ROI of the radar sensor.

10 . The apparatus of claim 9 , wherein the comparer is configured to verify whether the ROI of the LIDAR sensor overlaps the ROI of the radar sensor, and
the verifier is configured to verify that the moving object is present within an overlapping ROI based on verification that the ROI of the LIDAR sensor overlaps the ROI of the radar sensor.

11 . The apparatus of claim 9 , wherein the comparer is configured to verify whether a shadow region associated with the LIDAR sensor overlaps the ROI of the radar sensor when the set ROI of the LIDAR sensor does not overlap the ROI of the radar sensor, and
the verifier is configured to verify that the moving object is present within an overlapping shadow region based on verification that the shadow region associated with the LIDAR sensor overlaps the ROI of the radar sensor.

12 . The apparatus of claim 9 , further comprising:
a displayer configured to display the moving object, and wherein the displayer is configured to display the moving object on a display of the LIDAR sensor based on information on a horizontal angle of the moving object extracted through the LIDAR sensor and information on a range from the radar sensor to the moving object extracted through the radar sensor.

13 . The apparatus of claim 9 , wherein the setter is configured to set a lateral size of the ROI of the LIDAR sensor to be a predetermined size determined based on a unique accuracy of the LIDAR sensor, and variably set a longitudinal size of the ROI of the LIDAR sensor based on a relative range between a target and the LIDAR sensor.

14 . The apparatus of claim 9 , wherein the setter is configured to set a longitudinal size of the ROI of the radar sensor to be a predetermined size determined based on a unique accuracy of the radar sensor, and variably set a lateral size of the ROI of the radar sensor based on a relative range between a target and the radar sensor.

15 . The apparatus of claim 9 , further comprising:
a corrector configured to correct errors of coordinates associated with the LIDAR data received from the LIDAR sensor and the radar data received from the radar sensor based on offsets caused by initial locations of the LIDAR sensor and the radar sensor, and wherein the extractor is configured to extract each of the objects present within the search range based on the LIDAR data and the radar data in which the errors of coordinates are corrected.

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Lee Jong Hun
• Kwon Seong Kyung
• Son Sang Hyuk
• Hyun Eugin
• Lee Jin Hee

Classifications

• G01S13/865 Primary

  Combination of radar systems with lidar systems · CPC title

• G01S7/415

  Identification of targets based on measurements of movement associated with the target · CPC title

• G01S17/93

  for anti-collision purposes · CPC title

• G01S7/4802

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• G01S13/93

  for anti-collision purposes · CPC title