公开(公告)号：US20190163968A1

公开(公告)日：2019-05-30

申请号：US16059013

申请日：2018-08-08

Applicant: National Chung-Shan Institute of Science and Technology

Inventor： Kai-Lung Hua ,  Shih-Che Chien ,  Feng-Chia Chang ,  Hsueh-Ling Tang ,  Chien-Hao Hsiao ,  Yu-Sung Hsiao

IPC: G06K9/00 ,  G01S17/89 ,  G01S17/02 ,  G06T7/73 ,  G06K9/46 ,  G06K9/62 ,  G06K9/40

Abstract: A method for performing pedestrian detection with aid of light detection and ranging (LIDAR) is provided. The method includes: obtaining 3-dimensional (3D) point cloud data through the LIDAR; performing ground separation processing on the 3D point cloud data to remove ground information; performing object extraction processing on the 3D point cloud data to obtain 3D point cloud chart that includes pedestrian candidate point cloud group; performing 2-dimensional (2D) mapping processing on the 3D point cloud chart to obtain 2D chart; and extracting 3D feature and 2D feature from the 3D point cloud chart and the 2D chart, respectively, and utilizing the 3D feature and the 2D feature to determine location of the pedestrian. According to the method, image data obtained by the LIDAR may be enhanced, the method may distinguish between pedestrian far away and environment blocks, and pedestrian recognition in nighttime or in bad weather may be improved.

公开(公告)号：US10769421B2

公开(公告)日：2020-09-08

申请号：US16059013

申请日：2018-08-08

Applicant: National Chung-Shan Institute of Science and Technology

Inventor： Kai-Lung Hua ,  Shih-Che Chien ,  Feng-Chia Chang ,  Hsueh-Ling Tang ,  Chien-Hao Hsiao ,  Yu-Sung Hsiao

IPC: G06K9/00 ,  G01S17/89 ,  G06T7/73 ,  G06K9/46 ,  G06K9/40 ,  G06K9/62 ,  G01S17/04

Abstract: A method for performing pedestrian detection with aid of light detection and ranging (LIDAR) is provided. The method includes: obtaining 3-dimensional (3D) point cloud data through the LIDAR; performing ground separation processing on the 3D point cloud data to remove ground information; performing object extraction processing on the 3D point cloud data to obtain 3D point cloud chart that includes pedestrian candidate point cloud group; performing 2-dimensional (2D) mapping processing on the 3D point cloud chart to obtain 2D chart; and extracting 3D feature and 2D feature from the 3D point cloud chart and the 2D chart, respectively, and utilizing the 3D feature and the 2D feature to determine location of the pedestrian. According to the method, image data obtained by the LIDAR may be enhanced, the method may distinguish between pedestrian far away and environment blocks, and pedestrian recognition in nighttime or in bad weather may be improved.