US 11,733,388 B2
Method, apparatus and electronic device for real-time object detection
Wenjie Luo, Beijing (CN)
Assigned to Beijing Qingzhouzhihang Intelligent Technology Co., Ltd, Beijing (CN)
Filed by Beijing Qingzhouzhihang Intelligent Technology Co., Ltd, Beijing (CN)
Filed on Sep. 28, 2020, as Appl. No. 17/34,245.
Claims priority of application No. 202010240407.7 (CN), filed on Mar. 30, 2020.
Prior Publication US 2021/0302584 A1, Sep. 30, 2021
Int. Cl. G01S 17/89 (2020.01); G06T 7/73 (2017.01)
CPC G01S 17/89 (2013.01) [G06T 7/73 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for real-time object detection, comprising:
acquiring target point cloud data using a Light Detection and Ranging (LiDAR) device in a range of a preset angle, wherein the target point cloud data comprises one or more data points, and the preset angle is less than 360 degrees the round angle;
determining a one-dimensional LiDAR point feature of each of the data points in the target point cloud data;
updating a previous frame of LiDAR feature vector based on the one-dimensional LiDAR point feature of each of the data points in the target point cloud data to generate a current frame of LiDAR feature vector; and
determining object information in a real-time manner based on the current frame of LiDAR feature vector;
wherein the acquiring target point cloud data in the range of the preset angle comprises:
determining a time length T1 required for acquiring a round of point cloud data by the LiDAR device, and a time length T2 required for processing the round of point cloud data; determining the preset angle αas

OG Complex Work Unit Math
where k denotes an adjusting coefficient, and R denotes 360 degrees; and
generating the target point cloud data based on the one or more data points collected by the LiDAR device in the range of the preset angle.