Apparatus and Method for Detecting Object Based on Spherical Signature Descriptor Using LiDAR Sensor Data

摘要

An object recognition apparatus based on a spherical feature expression using lidar sensor data according to the present invention includes: a sensor data receiver configured to receive lidar sensor data, which is distance data from a target object, from a lidar sensor; A learning data generator configured to generate learning data, which is a shape pattern for each point constituting a three-dimensional point group of the target object by applying lidar sensor data for the target object to a spherical feature expression; A learning data storage unit for classifying and storing learning data for each point of the target object according to the target object; And a target object recognition unit that receives training data for an arbitrary point constituting a three-dimensional point group of an arbitrary target object from the learning data generation unit and recognizes a corresponding target object.