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 a device for matching distance data and 3D scan data for an autonomous vehicle. Provided is a device for matching data for an autonomous vehicle, comprising: a data obtaining unit; a data matching unit; a calculating unit; and a controlling unit. The data obtaining unit obtains distance data and 3D point-cloud data for a surrounding environment by using a lidar sensor and a 3D scanner installed in a vehicle. The data matching unit detects a plurality of corresponding points corresponding to the distance data and the 3D point-cloud data. The calculating unit calculates a coordinate transformation matrix between the distance data and the 3D point-cloud data by using coordinates of the plurality of detected corresponding points. When the distance data and the 3D point-cloud data are obtained during driving of the vehicle, the controlling unit maps the distance data on a space of the 3D point-cloud data in real time by using the coordinate transformation matrix. The present invention maps the distance data obtained from the lidar sensor during the driving of an autonomous vehicle on the space of the 3D scan data obtained from the 3D scanner in real time. Therefore, the present invention can increase stability of the autonomous vehicle and can visualize the surrounding environment and driving information to effectively transmit the same to a driver.