US 12,405,380 B2
Method for detecting ground using lidar sensor and ground detection device performing same
Changhwan Chun, Seoul (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. 17/462,331.
Claims priority of application No. 10-2021-0081715 (KR), filed on Jun. 23, 2021.
Prior Publication US 2022/0413147 A1, Dec. 29, 2022
Int. Cl. G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/931 (2020.01)] 17 Claims
OG exemplary drawing
 
1. A method for detecting a ground using a ground detection device, the method comprising:
arranging points obtained from a lidar sensor in a plurality of cells included in a circular grid map;
generating a profile value for each of the plurality of cells using heights of the points; and
detecting ground points arranged in each of the plurality of cells using the profile values,
wherein the generating of the profile value for each of the plurality of cells comprises:
determining one or more candidate ground cells among the plurality of cells using the heights of the points; and
generating the profile value for each of the plurality of cells using the heights of the points arranged in the one or more candidate ground cells,
wherein the profile value is generated based on valid ground cell, and
wherein the valid ground cell is determined based on a height difference between a height of a first point having a smallest height arranged in a first candidate ground cell among the one or more candidate ground cells having a same angular component, and a height of a second point having a smallest height arranged in a second candidate ground cell positioned before the first candidate ground cell in a rho-direction of the circular grid map.