公开(公告)号：US11507783B2

公开(公告)日：2022-11-22

申请号：US17380663

申请日：2021-07-20

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Dong-Jin Lee ,  Do-Wook Kang ,  Jungyu Kang ,  Joo-Young Kim ,  Kyoung-Wook Min ,  Jae-Hyuck Park ,  Kyung-Bok Sung ,  Yoo-Seung Song ,  Taeg-Hyun An ,  Yong-Woo Jo ,  Doo-Seop Choi ,  Jeong-Dan Choi ,  Seung-Jun Han

IPC: G06K9/62 ,  G06T7/80 ,  G06V10/24 ,  G06V20/56 ,  G06V20/58 ,  G06V20/64

Abstract: Disclosed herein are an object recognition apparatus of an automated driving system using error removal based on object classification and a method using the same. The object recognition method is configured to train a multi-object classification model based on deep learning using training data including a data set corresponding to a noise class, into which a false-positive object is classified, among classes classified by the types of objects, to acquire a point cloud and image data respectively using a LiDAR sensor and a camera provided in an autonomous vehicle, to extract a crop image, corresponding to at least one object recognized based on the point cloud, from the image data and input the same to the multi-object classification model, and to remove a false-positive object classified into the noise class, among the at least one object, by the multi-object classification model.

公开(公告)号：US09352690B2

公开(公告)日：2016-05-31

申请号：US14059607

申请日：2013-10-22

Applicant: Electronics and Telecommunications Research Institute

Inventor： Hyun-Kyun Choi ,  Kyung-Bok Sung ,  Dong-Yong Kwak ,  Dong-Sun Lim

IPC: B60R1/00 ,  B60W30/095 ,  B60W50/00

CPC classification number: B60R1/002 ,  B60W30/095 ,  B60W2050/0075 ,  B60W2420/42 ,  B60W2420/62 ,  B60W2520/10 ,  B60W2550/402

Abstract: Disclosed herein are an apparatus and method for detecting an obstacle adaptively to vehicle speed. The apparatus includes a control unit, a speed-adaptive camera sensor, a speed-adaptive laser scanner sensor, and a detection data integration unit. The control unit receives information about the speed of a vehicle and a Pulse Per Second (PPS) signal from a Global Positioning System (GPS) module. The speed-adaptive camera sensor adjusts the range of a detection region based on the information about the speed of the vehicle, and generates first detection data on an object. The speed-adaptive laser scanner sensor adjusts the range of the angle of the field of view of a laser scanner based on the information about the speed of the vehicle, and generates second detection data on the object. The detection data integration unit outputs obstacle detection data.

Abstract translation: 这里公开了一种用于自适应地检测障碍物的车辆速度的装置和方法。 该装置包括控制单元，速度自适应摄像机传感器，速度自适应激光扫描仪传感器和检测数据集成单元。 控制单元从全球定位系统（GPS）模块接收关于车辆速度和每秒脉冲（PPS）信号的信息。 速度自适应摄像机传感器基于关于车辆速度的信息来调整检测区域的范围，并且生成关于对象的第一检测数据。 速度自适应激光扫描仪传感器基于关于车辆速度的信息来调整激光扫描仪的视野角度的范围，并且在对象上生成第二检测数据。 检测数据整合单元输出障碍物检测数据。