US 11,954,915 B2
Method for detecting guard-rail using LIDAR sensor and guard-rail detection device performing the method
Jaekwang Kim, Bucheon-si (KR); and Seungyong Lee, Goyang-si (KR)
Assigned to Vueron Technology Co., Ltd, Seoul (KR)
Filed by Vueron Technology Co., Ltd, Seoul (KR)
Filed on Aug. 31, 2021, as Appl. No. 17/462,340.
Claims priority of application No. 10-2021-0112085 (KR), filed on Aug. 25, 2021.
Prior Publication US 2023/0069618 A1, Mar. 2, 2023
Int. Cl. G06V 20/58 (2022.01); G01S 7/48 (2006.01); G01S 17/931 (2020.01)
CPC G06V 20/58 (2022.01) [G01S 17/931 (2020.01); G01S 7/4808 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for detecting a guard-rail on a road, which is performed by a guard-rail detection device, the method comprising:
acquiring points around a LIDAR sensor from the LIDAR sensor;
detecting ground points based on the acquired points;
arranging, among the acquired points, first points that are different from the detected ground points in voxels forming a sphere; and
detecting the guard-rail based on the voxels and the first points.