US 12,253,602 B2
Method and device for tracking object using LiDAR sensor, vehicle including the device, and recording medium storing program to execute the method
Hyun Ju Kim, Yongin-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Motors Corporation, Seoul (KR)
Filed on Feb. 19, 2021, as Appl. No. 17/180,243.
Claims priority of application No. 10-2020-0124752 (KR), filed on Sep. 25, 2020.
Prior Publication US 2022/0099838 A1, Mar. 31, 2022
Int. Cl. G01S 17/50 (2006.01); G01S 17/04 (2020.01); G01S 17/89 (2020.01)
CPC G01S 17/50 (2013.01) [G01S 17/04 (2020.01); G01S 17/89 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method of tracking an object using a LiDAR sensor, the method comprising:
selecting, among a plurality of segment boxes for each channel obtained by using a plurality of points for an object obtained by the LiDAR sensor, an associated segment box at a current time for a target object that is being tracked, wherein the selecting comprises:
obtaining a correlation index between a current representative point and each of a tracking representative point and a previous representative point of each of the plurality of segment boxes at the current time;
selecting, among the plurality of segment boxes, candidate segment boxes for the associated segment box using the correlation index; and
selecting, among the selected candidate segment boxes, the associated segment box at the current time,
wherein the tracking representative point corresponds to a representative point of a tracking box of the target object at the current time, estimated using history information, and
wherein the previous representative point corresponds to a representative point of a segment box selected as the associated segment box at a previous time.