KR20170086799A - Apparatus and method for determing 3d object using rotation of laser - Google Patents

Apparatus and method for determing 3d object using rotation of laser Download PDF

Info

Publication number
KR20170086799A
KR20170086799A KR1020160006252A KR20160006252A KR20170086799A KR 20170086799 A KR20170086799 A KR 20170086799A KR 1020160006252 A KR1020160006252 A KR 1020160006252A KR 20160006252 A KR20160006252 A KR 20160006252A KR 20170086799 A KR20170086799 A KR 20170086799A
Authority
KR
South Korea
Prior art keywords
moving object
information
laser scanner
dimensional
rotation
Prior art date
Application number
KR1020160006252A
Other languages
Korean (ko)
Other versions
KR101784584B1 (en
Inventor
권장우
이상민
유인환
Original Assignee
인하대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 인하대학교 산학협력단 filed Critical 인하대학교 산학협력단
Priority to KR1020160006252A priority Critical patent/KR101784584B1/en
Publication of KR20170086799A publication Critical patent/KR20170086799A/en
Application granted granted Critical
Publication of KR101784584B1 publication Critical patent/KR101784584B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

An apparatus and method for determining a three-dimensional object using laser rotation are disclosed. The three-dimensional object discriminating apparatus includes an information collecting unit for collecting three-dimensional point cloud of a moving object by scanning a moving object in space using a laser scanner, an information collecting unit for rotating the laser scanner vertically and horizontally Dimensional mesh information to mesh information, and a mesh control unit for matching the mesh information converted from the database storing the three-dimensional mesh information of each of the plurality of moving objects collected in advance And an object determining unit for determining a moving object to be moved.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for determining a three-dimensional object using laser rotation,

Embodiments of the present invention relate to an apparatus and method for obtaining a three-dimensional shape of a moving object using a fixed laser distance measurement module and determining the type of object based on the obtained three-dimensional shape.

The object recognition method using computer vision has a large variation in accuracy depending on the shooting time of the image information used for object recognition and the shooting environment such as weather. A complicated algorithm is used to improve the object recognition rate according to the shooting environment. However, when the algorithm is used, the calculation complexity increases and the time required for object recognition becomes very long. As described above, since the time required for object recognition increases, the power consumption increases, and real-time processing is difficult.

Particularly, when the object is far away from the measuring device that recognizes the object, there is a difficulty in obtaining the depth information of the object when acquiring the three-dimensional shape using the equipment for photographing the eye. That is, there is a difficulty in generating a three-dimensional shape from the depth information of the object measured due to the resolution limit.

Korean Patent Registration No. 10-1188584 describes a technique for discriminating an object in front of a vehicle using a camera and a laser scanner.

The present invention relates to a technique of scanning a moving object by rotating a stationary laser distance measuring device in the horizontal and vertical directions and determining the type of the object by implementing the three-dimensional shape using the depth information of the moving object from the scanned moving object .

The three-dimensional object discriminating apparatus includes an information collecting unit for collecting three-dimensional point cloud of a moving object by scanning a moving object in space using a laser scanner, an information collecting unit for rotating the laser scanner vertically and horizontally Dimensional mesh information to mesh information, and a mesh control unit for matching the mesh information converted from the database storing the three-dimensional mesh information of each of the plurality of moving objects collected in advance And an object determining unit for determining a moving object to be moved.

According to an aspect of the present invention, the rotation control unit may control the laser scanner to rotate in an " e " shape.

According to another aspect, the information collecting unit may control the laser scanner to scan the background when there is no moving object on the space, and store depth information of the scanned background in the auxiliary storage device. At this time, the rotation control unit determines a rotation start position for rotating the laser scanner based on the depth information of the background and the depth information of the moving object being measured, and controls the rotation of the laser scanner .

According to another aspect of the present invention, the rotation control unit controls the horizontal direction rotation of the laser scanner to be switched to the vertical direction rotation as the depth information of the background coincides with the depth information of the moving object within a predetermined error range can do.

The three-dimensional object discriminating method includes the steps of: collecting three-dimensional point cloud of a moving object by scanning a moving object in space using a laser scanner; controlling the laser scanner to rotate in the up and down and left and right directions Dimensional point information to mesh information, and determining a moving object that matches the mesh information converted from the database in which the three-dimensional mesh information of each of the plurality of moving objects collected in advance is stored .

By moving the stationary laser distance measuring device horizontally and vertically, the moving object is scanned irrespective of the width and length of the moving object. Based on the depth information of the moving object obtained through the scanning, By implementing the dimensional shape, image processing can obtain depth information of a hard object and more accurately determine the type of object.

FIG. 1 is a block diagram showing an internal configuration of a three-dimensional object discrimination apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method of determining a three-dimensional object by rotating a laser according to an embodiment of the present invention.
3 is a view for explaining a coordinate system sensed by a laser in an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In particular, the present invention relates to a technique for recognizing an object using a laser scanner, in particular, a fixed laser scanner used for object recognition is rotated using a rotation module, And a technique for determining the type of moving object based on depth information of the moving object obtained by scanning the moving object.

In the present embodiments, the moving object may be an object to be scanned or photographed through a laser scanner, and may be a moving object such as a person, an animal, a vehicle, or the like. For example, the laser scanner may be mounted on a road or a pillar of an alley located in the vicinity of an area where a moving object is to be recognized, and the three-dimensional object discriminating apparatus may be configured to detect, based on moving object related information scanned through the laser scanner, Can be determined. For example, the three-dimensional object discriminating apparatus can be mounted on a laser scanner or separately from the laser scanner, and can control rotation of the laser scanner, information collection, and the like.

In this specification, the height of the moving object can be determined by moving the laser scanner up and down and scanning the moving object. For example, as the laser scanner scans the moving object while moving in the vertical direction, the height of the moving object can be determined according to the vertical moving size. Then, the vertical height of the moving object can be measured using an encoder, and Z-axis coordinates indicating the vertical height can be generated. As the laser scanner scans the moving object while moving in the lateral direction, the moving object can be scanned regardless of the width and the length of the moving object. Then, coordinates of the X-axis can be generated by measuring the rotation of the left and right using the encoder. The distance information from the laser scanner to the moving object can be generated as the depth information of the moving object as the laser scanner scans the moving object while moving in the vertical or horizontal direction and the depth information of the moving object is the Y- Lt; / RTI > Then, the three-dimensional object discrimination apparatus can determine the type of the scanned moving object by three-dimensionally mapping the moving object based on the generated X, Y, and Z axis coordinates. At this time, 3D rendering can be performed using the X, Y and Z axis coordinates and the depth information which is the distance from the laser scanner to the moving object. For example, in the case of rendering while moving up and down along the left and right rotation axes, the XZ value is determined using an encoder, and the Y value can be determined based on depth information, which is the distance from the laser scanner to the moving object. Then, by applying the XZ value and the Y value to a predefined rendering algorithm, a three-dimensional graphic rendering can be performed.

In this specification, only when the laser distance measurement module rotates and scans in the horizontal direction, the depth information, which is the distance information of the background and moving object, is obtained when the laser distance measurement module rotates in a ' And it is assumed that depth information is not obtained in the vertical direction rotation.

FIG. 1 is a block diagram illustrating an internal configuration of a three-dimensional object discrimination apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a method of discriminating a three-dimensional object by rotating a laser according to an embodiment of the present invention Fig.

Referring to FIG. 1, the three-dimensional object discriminating apparatus 100 may include an information collecting unit 110, a rotation controlling unit 120, a mesh converting unit 130, and an object determining unit 140. Each of the steps (210 to 250) for discriminating the three-dimensional object in FIG. 2 corresponds to the components (the information collecting unit, the rotation controlling unit, the mesh converting unit, and the object determining unit) Lt; / RTI >

Although the laser scanner is not shown in FIG. 1, the laser scanner may be mounted on the three-dimensional object discriminating apparatus 100 or separately from the three-dimensional object discriminating apparatus 100, (100). For example, if configured separately, the laser scanner can provide scanned moving object related information to the three-dimensional object discriminating apparatus 100 by wire or wireless.

In step 210, the laser scanner can sense a moving object located around the laser scanner.

For example, a laser scanner can scan a moving object or background moving in the surrounding space by emitting in a peripheral space where a near-infrared laser scanner with a low-power output, which is set to an extent that is harmless to the human body, is installed. At this time, when a moving object exists, the laser scanner senses the movement of the moving object by emitting the near-infrared rays in space, and can detect the presence of the moving object. When there is no moving object, the laser scanner can detect that there is no moving object due to no movement change on the space in which the near-infrared ray is radiated.

For example, the laser scanner can detect a moving object at a predetermined predetermined time interval (several μs to ms), and transmit the detection result (for example, moving object detection or moving object) to the three-dimensional object discrimination device.

In step 220, when the moving object does not exist, the laser scanner scans the background corresponding to the space in which the near-infrared rays are radiated, and transmits the depth information of the scanned background to the three-dimensional object discrimination device.

Then, the information collecting unit 110 may receive the depth information of the background at predetermined time intervals, and may be accumulated and stored in the auxiliary storage device. The depth information of the background stored in the auxiliary storage device can be used to distinguish the boundary between the detected moving object and the background when a moving object is detected.

If it is detected in step 230 that the moving object is present, that is, if the detection result collected by the information collecting unit 110 includes information indicating that the moving object is detected, the information collecting unit 110 acquires information The point cloud can be collected from the scanned moving object by controlling the scanning of the moving object. At this time, the rotation control unit 120 may transmit a command to the laser scanner to control the laser scanner to rotate in a '' 'shape.

For example, the rotation control unit 120 may control the laser distance measurement module to measure the depth information, which is the distance from the laser scanner to the moving object among the modules constituting the laser scanner. Then, the laser distance measuring module rotates in the up-and-down direction or the left-right direction according to the command of the rotation control unit 120, and eventually scans the moving object while rotating the 'r' shape repeatedly. As the laser distance measurement module rotates and scans the moving object, the rotation angle and depth information of the moving object can be obtained. Then, the laser scanner can transmit the rotation angle and the depth information of the moving object to the three-dimensional object discriminating apparatus, and the information collecting unit 110 can store the rotation angle and the depth information of the moving object in the auxiliary storage device have.

 At this time, in controlling the rotation of the laser scanner, the rotation control unit 120 may determine the rotation start position for rotating the laser scanner based on the depth information of the background and the depth information of the moving object under measurement. For example, the rotation control unit 120 may compare the depth information of the background related to the moving object already stored in the auxiliary memory device and the depth information of the moving object currently being measured. As a result of comparison, the point at which the difference between the depth information of the background and the depth information of the moving object differs by more than the predetermined threshold value can be determined as the rotation start position. Then, the rotation control unit 120 may transmit a control command to the laser scanner to align the laser distance measurement module to the rotation start position. Then, the laser scanner aligned at the rotation start position can scan the moving object while rotating according to the predetermined rotation direction. At this time, the maximum rotation angle in the rotation direction, that is, the maximum rotation angle in the horizontal direction and the maximum rotation angle in the vertical direction, can be preset by the manager in consideration of the processing performance of the three-dimensional object discrimination device.

In step 240, the mesh transformer 130 may convert the three-dimensional point information of the collected moving object into three-dimensional mesh information as the laser scanner scans the moving object while rotating. Here, the three-dimensional mesh information is three-dimensional plane information calculated from three-dimensional point cloud, and can represent the actual shape of the moving object. For example, when the moving object is a person (female, male, child, elderly, adult, etc.), the three-dimensional mesh information may be a shape of an animal, The shape of a vehicle (a car, a truck, a bus, a bicycle, a motorcycle, an electric bike, etc.), and the like.

In step 250, the object determining unit 140 can determine the moving object based on the converted 3D mesh information and the database.

Here, the 3D mesh information of each of a plurality of objects collected in advance may be stored together with the object related information and stored and managed. For example, when the object is an eye, the three-dimensional mesh information of the child and the key and age of the child may be associated with each other and stored in the database. If the object is a vehicle, , Light vehicle, medium size, large size, etc.), model name, vehicle name, etc., may be associated and stored in the database.

Then, the object determining unit 140 can determine the 3D mesh information matching the transformed 3D mesh information in the database, and determine the moving object based on the moving object related information stored in association with the matching 3D mesh information You can decide. At this time, the object determining unit 140 can determine the 3D mesh information matching the converted 3D mesh information within the predetermined error range in the database. For example, the object determining unit 140 may determine three-dimensional mesh information that matches within the error range with the converted three-dimensional mesh information stored in the database as the candidate group, The mesh information most matching with the three-dimensional mesh information can be determined as the final mesh information to be used for discriminating the type of the moving object. The object determining unit 140 may determine whether the moving object is a person, an animal, a vehicle, or the like based on the moving object related information corresponding to the final mesh information. In addition to the type of the moving object determined, Can be provided through the display.

On the other hand, when the matching rate between the converted 3D mesh information and each of the 3D mesh information previously stored in the database is equal to or greater than the predetermined matching reference value, that is, when the matching rate is equal to or larger than the error range, the object determining unit 140 determines The type determination can be treated as failed. As described above, when the object is determined to be a failure, the object determining unit 140 determines a polyhedron such as a minimum hexahedron or a rectangular parallelepiped that surrounds the moving object based on the size information (e.g., height and width of the moving object) Display. ≪ / RTI >

3 is a view for explaining a coordinate system sensed by a laser in an embodiment of the present invention.

3, the depth information of the background and the depth information of the moving object stored in the auxiliary memory device are stored in the coordinate display method of the spherical coordinate system

Figure pat00001
, And the laser scanner may include a laser distance measurement module and a rotation module. Here, r represents the distance from the laser scanner, specifically, the laser distance measurement module to the measurement object (for example, background, moving object)
Figure pat00002
Assuming that a virtual straight line passing through the ceiling from the rotation module rotating the laser distance measurement module is the z-axis, a virtual vector connecting the z-axis and the measurement object and the laser distance measurement module
Figure pat00003
This may correspond to the smaller of the two. And,
Figure pat00004
From a rotation module to a point on a predetermined horizon line,
Figure pat00005
And the angle formed by projecting the light onto the plane of the horizon.

As described above, the depth information of the background corresponding to the moving object and the depth information of the moving object

Figure pat00006
The rotation control unit 120 compares the r value corresponding to the depth information of the background with the r value corresponding to the depth information of the moving object, and if the difference value of the comparison result exceeds the predetermined threshold value or more And can determine the rotation start position. Then, according to the control command of the rotation control unit 120, the laser distance measurement module aligns to the rotation start position, and the laser distance measurement module forms an 'e' shape according to the predetermined rotation direction, (I.e., the distance information in the horizontal direction) of the moving object and transmits the acquired depth information to the information collecting unit 110.

At this time, the laser distance measuring module can perform only horizontal or vertical rotation at any moment during the rotation. That is, when the laser scanner rotates, the rotational direction can be switched in the vertical direction during the rotation in the horizontal direction. For example, the rotation control unit 120 may determine the point in time when the depth information of the background and the depth information of the moving object coincide with each other within the predetermined error range as the point at which the rotation direction of the laser scanner is switched from the horizontal direction rotation to the vertical direction rotation have. That is, a point of time when the r value corresponding to the depth information of the background and the r value corresponding to the depth information of the moving object coincide within the error range can be determined as the rotating direction switching point. Then, the rotation control unit 120 may transmit a command to the rotation module to control the rotation direction to be switched to the vertical direction. Then, the rotation module moves in the vertical direction, so that the laser distance measurement module can be rotated in the vertical direction. If the depth information of the first n samples of the moving object calculated through the horizontal rotation matches the depth information of the background after the rotation module rotates in the vertical direction, the depth information calculation of the moving object may be terminated .

In this case, when the laser distance measurement module rotates in the horizontal direction and the scanning is performed, the depth information which is the distance information of the background and the moving object can be obtained And depth information may not be obtained in the vertical direction rotation. The horizontal resolution corresponding to the distance information measured through the scanning in the laser distance measuring module is inversely proportional to the rotational speed of the rotating module and can be directly proportional to the sampling frequency of the laser distance measuring module. The vertical resolution corresponding to the distance information measured through the scanning in the laser distance measurement module may be inversely proportional to the rotation angle of the rotation module in the vertical direction once.

When the process of calculating the depth information of the moving object is completed while rotating the laser scanner to the 'r' character, the mesh changing unit 130 moves the spherical coordinates of the moving object

Figure pat00007
Dimensional coordinate information (x, y, z) of the three-dimensional point information. For example, the spherical coordinates may be transformed into the Cartesian coordinates based on Equation (1) below.

Figure pat00008

Since the depth information of the moving object calculated according to Equation (1) does not have the same measurement time of each point, when the depth information is visualized, a distortion phenomenon in which the lower portion is deviated toward one side may occur. The faster the moving speed of the moving object, the more the distortion can be. Accordingly, the rotation control unit 120 can control the rotation speed of the rotation module in consideration of the moving speed of the moving object, thereby alleviating the point information skipping (distortion) phenomenon caused by the movement of the moving object. For example, if the moving speed of the moving object is faster than the predetermined reference moving speed with respect to the reference rotating speed, the rotating speed of the rotating module may be controlled to rotate faster than the reference rotating speed in proportion to the increase amount of the moving speed . In addition, the rotation control unit 120 may control the sampling frequency of the laser distance measurement module to be high, thereby reducing or minimizing the leaning. As described above, the drift phenomenon according to the moving speed of the moving object is mitigated by controlling the rotation speed and the sampling frequency of the rotating module, so that the degradation of the recognition rate in the object recognition process can be reduced or minimized.

Referring again to Equation (1), the three-dimensional point orthogonal coordinate information converted into the rectangular coordinates may represent one side of the moving object to be measured. Here, the three-dimensional point orthogonal coordinate information is transferred to the first octal space of the three-dimensional orthogonal coordinate system using the linear coordinate transformation as the three-dimensional mesh information, and is applied to the object recognition algorithm based on the three-dimensional point information, It can be used for kind discrimination.

For example, it is possible to compare three-dimensional mesh information of a plurality of persons built in a database and three-dimensional mesh information (three-dimensional point orthogonal coordinate information) of a moving object with each other, The type and identity of the moving object can be determined based on the information.

As described above, the laser distance measurement module is rotated using the rotation module, and the distance from the laser scanner to the moving object is measured through the laser distance measurement module to obtain the depth information of the moving object. Accordingly, it is possible to determine the moving object more accurately without using a computer vision having a large deviation in recognition accuracy. That is, the accuracy of object recognition can be improved.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (5)

An information collecting unit for collecting three-dimensional point cloud of a moving object by scanning a moving object in space using a laser scanner;
A rotation control unit for controlling the laser scanner to rotate in the vertical and horizontal directions;
A mesh conversion unit for converting the three-dimensional point information into mesh information; And
An object determining unit that determines a moving object matching with the converted mesh information from a database storing three-dimensional mesh information of each of a plurality of moving objects collected in advance,
Dimensional object discriminating device. The method according to claim 1,
The rotation control unit includes:
To control the laser scanner to rotate in an " e " shape
Dimensional object discriminating apparatus. The method according to claim 1,
The information collecting unit,
Controlling the laser scanner to scan the background when there is no moving object on the space, storing depth information of the scanned background in the auxiliary storage device,
The rotation control unit includes:
Determining a rotation start position for rotating the laser scanner based on depth information of the background and depth information of the moving object being measured, and controlling the laser scanner to rotate in accordance with a predefined rotation direction
Dimensional object discriminating apparatus. The method of claim 3,
The rotation control unit includes:
And controlling so that the horizontal rotation of the laser scanner is switched to the vertical rotation as the depth information of the background coincides with the depth information of the moving object within a predetermined error range
Dimensional object discriminating apparatus. Collecting a three-dimensional point cloud of a moving object by scanning a moving object in space using a laser scanner;
Controlling the laser scanner to rotate in the vertical and horizontal directions;
Converting the three-dimensional point information into mesh information; And
Determining a moving object matching with the converted mesh information from a database storing three-dimensional mesh information of each of a plurality of moving objects collected in advance
Dimensional object.
KR1020160006252A 2016-01-19 2016-01-19 Apparatus and method for determing 3d object using rotation of laser KR101784584B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020160006252A KR101784584B1 (en) 2016-01-19 2016-01-19 Apparatus and method for determing 3d object using rotation of laser

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160006252A KR101784584B1 (en) 2016-01-19 2016-01-19 Apparatus and method for determing 3d object using rotation of laser

Publications (2)

Publication Number Publication Date
KR20170086799A true KR20170086799A (en) 2017-07-27
KR101784584B1 KR101784584B1 (en) 2017-10-12

Family

ID=59427779

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020160006252A KR101784584B1 (en) 2016-01-19 2016-01-19 Apparatus and method for determing 3d object using rotation of laser

Country Status (1)

Country Link
KR (1) KR101784584B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10726612B2 (en) 2018-06-22 2020-07-28 Electronics And Telecommunications Research Institute Method and apparatus for reconstructing three-dimensional model of object
WO2020218683A1 (en) * 2019-04-23 2020-10-29 이지스로직 주식회사 Three-dimensional image acquisition system using lidar

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005070840A (en) 2003-08-25 2005-03-17 East Japan Railway Co Three dimensional model preparing device, three dimensional model preparing method and three dimensional model preparing program

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10726612B2 (en) 2018-06-22 2020-07-28 Electronics And Telecommunications Research Institute Method and apparatus for reconstructing three-dimensional model of object
WO2020218683A1 (en) * 2019-04-23 2020-10-29 이지스로직 주식회사 Three-dimensional image acquisition system using lidar

Also Published As

Publication number Publication date
KR101784584B1 (en) 2017-10-12

Similar Documents

Publication Publication Date Title
KR102109941B1 (en) Method and Apparatus for Vehicle Detection Using Lidar Sensor and Camera
JP5822255B2 (en) Object identification device and program
CA2950791C (en) Binocular visual navigation system and method based on power robot
JP4233723B2 (en) Obstacle detection device, obstacle detection method, and recording medium recording an obstacle detection program
JP5303873B2 (en) Vehicle shape measuring method and apparatus
KR102029850B1 (en) Object detecting apparatus using camera and lidar sensor and method thereof
JP2015057690A (en) Image processor, recognition object detection method, recognition object detection program, and traveling body control system
JP6597795B2 (en) Image processing apparatus, object recognition apparatus, device control system, image processing method and program
JP5775965B2 (en) Stereo camera system and moving body
CN111178295A (en) Parking space detection and model training method and device, vehicle, equipment and storage medium
KR20210090384A (en) Method and Apparatus for Detecting 3D Object Using Camera and Lidar Sensor
WO2017094300A1 (en) Image processing device, object recognition device, device conrol system, image processing method, and program
JP6547841B2 (en) Image processing apparatus, object recognition apparatus, device control system, image processing method and program
CN109240291B (en) Robot motion line planning method and system based on remote control
JP6572696B2 (en) Image processing apparatus, object recognition apparatus, device control system, image processing method and program
CN109886064A (en) Determination can driving space boundary method
KR101784584B1 (en) Apparatus and method for determing 3d object using rotation of laser
JP2010079639A (en) Pedestrian detecting device for vehicle
KR20160125803A (en) Apparatus for defining an area in interest, apparatus for detecting object in an area in interest and method for defining an area in interest
JP2007233440A (en) On-vehicle image processor
JP3465531B2 (en) Object recognition method and apparatus
JP3969984B2 (en) Recognition method for moving objects
JP2019179289A (en) Processing device and program
JP3475700B2 (en) Object recognition method, object recognition device, and vehicle recognition device
JP4475060B2 (en) Human detection device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant