APPARATUS AND METHOD FOR CALIBRATING LIDAR-CAMERA BASED ON 3D PLANE DETECTION

摘要

Disclosed are an apparatus and a method for detecting an object based on the density using a light detection and ranging (LIDAR) sensor. An apparatus for calibrating a LIDAR-camera based on 3D plane detection according to one aspect of the present invention comprises: a receiving unit of receiving a photographed image with respect to a target area with a target object from a photographing device and receiving LIDAR data generated by sensing the target area from a LIDAR sensor; a video extracting unit of extracting a video characteristic point which is a characteristic point of the target object in the target video; a model generating unit of generating a 3D planar approximate model with respect to the target object using the LIDAR data; a data extracting unit of extracting a data characteristic point which is a characteristic point of the target object in the planar approximate model; and an information processing unit of generating conversion information which is information of converting coordinates of the video characteristic point and coordinates of the data characteristic point to match each other.;COPYRIGHT KIPO 2019