Apparatus and method for processing data of heterogeneous sensors in integrated manner to classify objects on road and detect locations of objects
First Claim
1. An apparatus for processing data of heterogeneous sensors in an integrated manner to classify one or more objects on a road and detect locations of the objects, the apparatus comprising:
- a camera image processing unit configured to generate results of processing of camera images based on the camera images collected from one or more cameras installed on the road;
a scanning information processing unit configured to generate results of processing of scanning information based on the scanning information collected from one or more laser scanners installed on the road; and
an integrated processing unit configured to generate types and final locations of the objects located on the road by processing the generated results of the processing of the camera images and the generated results of the processing of the scanning information in an integrated manner;
wherein the integrated processing unit;
maps the objects on the road to an integrated object sensing map composed of grid cells based on the results of the processing of the camera images and the results of the processing of the scanning information;
calculates a period and probability of each of grid cells of the integrated object sensing map, to which the objects have been mapped, being occupied;
if the calculated probability of being occupied is equal to or higher than a set threshold value, determines an identity for each grid cell by comparing an object type ID of an object occupying the grid cell with an object ID of the object, and, if the identity for each grid cell is normal, sets an object type ID for the grid cell; and
sets an average representative location of estimated locations of the results of processing of the laser scanner-related information as a final location of a corresponding object.
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Abstract
Disclosed herein are an apparatus and method for processing the data of heterogeneous sensors in an integrated manner to classify one or more objects on a road and detect the locations of the objects. The apparatus includes a camera image processing unit, a scanning information processing unit, and an integrated processing unit. The camera image processing unit generates the results of the processing of camera images based on the camera images collected from one or more cameras. The scanning information processing unit generates the results of the processing of scanning information based on the scanning information collected from one or more laser scanners. The integrated processing unit generates the types and final locations of the objects located on the road by processing the generated results of the processing of the camera images and the generated results of the processing of the scanning information in an integrated manner.
24 Citations
18 Claims
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1. An apparatus for processing data of heterogeneous sensors in an integrated manner to classify one or more objects on a road and detect locations of the objects, the apparatus comprising:
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a camera image processing unit configured to generate results of processing of camera images based on the camera images collected from one or more cameras installed on the road; a scanning information processing unit configured to generate results of processing of scanning information based on the scanning information collected from one or more laser scanners installed on the road; and an integrated processing unit configured to generate types and final locations of the objects located on the road by processing the generated results of the processing of the camera images and the generated results of the processing of the scanning information in an integrated manner; wherein the integrated processing unit; maps the objects on the road to an integrated object sensing map composed of grid cells based on the results of the processing of the camera images and the results of the processing of the scanning information; calculates a period and probability of each of grid cells of the integrated object sensing map, to which the objects have been mapped, being occupied; if the calculated probability of being occupied is equal to or higher than a set threshold value, determines an identity for each grid cell by comparing an object type ID of an object occupying the grid cell with an object ID of the object, and, if the identity for each grid cell is normal, sets an object type ID for the grid cell; and sets an average representative location of estimated locations of the results of processing of the laser scanner-related information as a final location of a corresponding object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of processing data of heterogeneous sensors in an integrated manner to classify one or more objects on a road and detect locations of the objects, the method comprising:
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generating, by a camera image processing unit, results of processing of camera images based on the camera images collected from one or more cameras installed on the road; generating, by a scanning information processing unit, results of processing of scanning information based on the scanning information collected from one or more laser scanners installed on the road; and generating, by an integrated processing unit, types and final locations of the objects located on the road by processing the generated results of the processing of the camera images and the generated results of the processing of the scanning information in an integrated manner; wherein the generating types and final locations of the objects comprises; mapping, by the integrated processing unit, the received results of the processing of the camera images and the received results of the processing of the scanning information to an integrated object sensing map; calculating, by the integrated processing unit, a period and probability of each of grid cells of the integrated object sensing map being occupied; determining, by the integrated processing unit, an identity for each grid cell based on the calculated probability of the grid cell being occupied; if the identity for each grid cell is normal, classifying, by the integrated processing unit, the objects for the corresponding grid cells; estimating, by the integrated processing unit, locations of the classified objects; and generating, by the integrated processing unit, results of the integrated processing. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification