APPARATUS AND METHOD FOR EXTRACTING FEATURE POINT FOR RECOGNIZING OBSTACLE USING LASER SCANNER
First Claim
1. An apparatus for extracting a feature point to recognize an obstacle using a laser scanner, the apparatus comprising:
- a laser scanner installed at a front of a traveling vehicle and configured to obtain laser scanner data having a plurality of layers in real time; and
a controller configured to separate the laser scanner data obtained by the laser scanner into a plurality of layers to extract measurement data present in each layer and determine feature points of the measurement data to classify a type of obstacle based on a plurality of stored feature points.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus and method for extracting a feature point to recognize an obstacle using a laser scanner are provided. The apparatus includes a laser scanner that is installed at a front of a traveling vehicle and is configured to obtain laser scanner data having a plurality of layers in real time. In addition, a controller is configured to separate the laser scanner data obtained by the laser scanner into a plurality of layers to extract measurement data present in each layer and determine feature points of the measurement data to classify a type of obstacle based on a plurality of stored feature points.
14 Citations
20 Claims
-
1. An apparatus for extracting a feature point to recognize an obstacle using a laser scanner, the apparatus comprising:
-
a laser scanner installed at a front of a traveling vehicle and configured to obtain laser scanner data having a plurality of layers in real time; and a controller configured to separate the laser scanner data obtained by the laser scanner into a plurality of layers to extract measurement data present in each layer and determine feature points of the measurement data to classify a type of obstacle based on a plurality of stored feature points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method for extracting a feature point to recognize an obstacle using a laser scanner, the method comprising:
-
obtaining, by a controller, laser scanner data having a plurality of layers in real time from the laser scanner installed at a front of a traveling vehicle; separating, by the controller, the laser scanner data into a plurality of layers; extracting, by the controller, measurement data present in each layer; and determining, by the controller, feature points of the measurement data to classify a type of obstacle present at the front of the traveling vehicle based on a plurality of stored feature points. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:
-
program instructions that obtain laser scanner data having a plurality of layers in real time from a laser scanner installed at a front of a traveling vehicle; program instructions that separate the laser scanner data into a plurality of layers; program instructions that extract measurement data present in each layer; and program instructions that determine feature points of the measurement data to classify a type of obstacle present at the front of the traveling vehicle based on a plurality of stored feature points. - View Dependent Claims (18, 19, 20)
-
Specification