3 Registration method of distance data and 3D scan data for autonomous vehicle and method thereof

摘要

The present invention relates to a method and apparatus for matching distance data and three-dimensional scan data for an autonomous vehicle. According to the present invention, a data acquisition unit for obtaining distance data and three-dimensional point group data of a surrounding environment using a lidar sensor and a three-dimensional scanner installed in a vehicle, and mutual correspondence between the distance data and the three-dimensional point group data A data matching unit for detecting a plurality of corresponding points, a calculation unit for calculating a coordinate transformation matrix between the distance data and the three-dimensional point group data using coordinates of the detected plurality of corresponding points, and the distance data while the vehicle is running. And a control unit which maps the distance data in real time to the space of the 3D point group data using the coordinate transformation matrix when the 3D point group data is obtained. . According to the present invention, since the distance data obtained from the Lidar sensor while driving the autonomous vehicle is mapped in real time on the space of the 3D scan data obtained from the 3D scanner, the stability of the autonomous vehicle can be improved. Of course, there is an advantage that can effectively convey to the driver by visualizing the surrounding environment and driving information.