3 LiDAR METHOD FOR DEVELOPMENT OF INTERSECTION RECOGNITION USING LINE EXTRACTION BY 3D LiDAR

摘要

An intersection recognition method based on line segment extraction using 3D LiDAR is disclosed. Embodiments of the present invention include: recognizing environmental information around a vehicle using a LiDAR sensor; Removing an obstacle within a reference radius range based on environmental information; And recognizing the intersection by comparing the extracted line segment with neighboring line segments by using a line segment extraction technique.