US 12,241,981 B2
LiDAR-based object detection method and apparatus
Mu Gwan Jeong, Seoul (KR); and Nam Gyun Kim, Gyeonggi-do (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Aug. 30, 2022, as Appl. No. 17/899,040.
Claims priority of application No. 10-2022-0006746 (KR), filed on Jan. 17, 2022.
Prior Publication US 2023/0228879 A1, Jul. 20, 2023
Int. Cl. G01S 17/89 (2020.01); G06V 10/26 (2022.01); G06V 10/762 (2022.01); G06V 10/771 (2022.01)
CPC G01S 17/89 (2013.01) [G06V 10/26 (2022.01); G06V 10/762 (2022.01); G06V 10/771 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A LiDAR-based object detection method comprising:
obtaining a point cloud for surrounding environment by use of LiDAR;
clustering, by a microprocessor, points of the point cloud acquired from the LiDAR;
selecting, by the microprocessor, a to-be-divided cluster among clusters generated in the clustering; and
selecting, by the microprocessor, division points according to a geometrical feature formed with adjacent points from among points belonging to the to-be-divided cluster, and dividing the to-be-divided cluster based on a representative point determined by at least some of the division points.