METHODS AND APPARATUSES FOR OBJECT DETECTION IN A SCENE BASED ON LIDAR DATA AND RADAR DATA OF THE SCENE

摘要

The present disclosure relates to a concept of object detection in a scene based on lidar data and radar data of the scene: The lidar data and the radar data are transformed to a common coordinate system. Different radar point clusters are extracted from the radar data. Different lidar point clusters are extracted from the lidar data and each lidar point cluster is associated with a target object. A target object's velocity is estimated based on the movement of the respective lidar point cluster between consecutive lidar images. The estimated target object's velocity is compared with velocity information of a corresponding radar point cluster to identify corresponding radar and lidar point clusters.