GROUND AND NON-GROUND DETECTION APPARATUS USING LIDAR AND METHOD THEREOF

摘要

The present invention provides a ground and non-ground detection apparatus using a LiDAR and a method thereof. The apparatus comprises: a LiDAR sensor performing a scanning operation while rotating at 360 degrees in a predetermined direction to obtain a three dimensional point group composed of multiple points each of which has a coordinate value of the three dimensional coordinate system (x, y, z); a distortion correcting unit correcting a distortion generated due to movement in the three dimensional point group while the LiDAR sensor rotates and performs the scanning operation; an ID line identification unit discriminating the multiple points of the distortion-corrected three dimensional point group according to a field of view (FOV) of the LiDAR sensor to identify N ID lines; a feature point extraction unit detecting the nearest point of the same ID line and the nearest point of other ID line on the xy plane with respect to each of the multiple points of the N ID lines and determining points of which distances from the detected points on the xy plane are within a predetermined first reference distance and of which z value differences are equal to or greater than a predetermined second reference distance to extract the points as feature points; and a non-ground detection unit detecting the determined feature points as the non-ground and detecting the points except the feature points as the ground.;COPYRIGHT KIPO 2020