US 11,914,388 B2
Vehicle using spatial information acquired using sensor, sensing device using spatial information acquired using sensor, and server
HanBin Lee, Seoul (KR); Jaeil Park, Seoul (KR); Hong Minh Truong, Suwon-si (KR); and Oran Kwon, Hanam-si (KR)
Assigned to SEOUL ROBOTICS CO., LTD., Seoul (KR)
Filed by SEOUL ROBOTICS CO., LTD., Seoul (KR)
Filed on Oct. 26, 2022, as Appl. No. 18/049,942.
Application 18/049,942 is a continuation of application No. 16/573,645, filed on Sep. 17, 2019, granted, now 11,507,101.
Claims priority of application No. 10-2019-0001312 (KR), filed on Jan. 4, 2019; and application No. 10-2019-0029372 (KR), filed on Mar. 14, 2019.
Prior Publication US 2023/0077393 A1, Mar. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G06T 7/246 (2017.01); G05D 1/00 (2006.01); G01S 17/931 (2020.01); G06V 20/58 (2022.01); G06F 18/2431 (2023.01); G01S 7/48 (2006.01); G01S 13/86 (2006.01); G01S 17/87 (2020.01); G01S 17/89 (2020.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01)
CPC G05D 1/0231 (2013.01) [G01S 7/4802 (2013.01); G01S 13/865 (2013.01); G01S 17/87 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0088 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 1/0276 (2013.01); G06F 18/2431 (2023.01); G06N 3/04 (2013.01); G06T 7/246 (2017.01); G06V 20/58 (2022.01); G05D 2201/0213 (2013.01); G06N 3/08 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30261 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a sensor unit configured to sense a three-dimensional (3D) space;
a memory storing one or more instructions; and
a processor configured to execute the one or more instructions to:
acquire point cloud data for the sensed 3D space,
distinguish individual object areas from the acquired point cloud data,
acquire object information of an object identified by using an object classification model,
track the sensed 3D space using the object information and information related to an object acquired from the individual object areas, and
control driving of the vehicle based on information related to the tracked 3D space.