METHOD AND APPARATUS FOR MONITORING INDOOR ENVIRONMENT OF VEHICLE THROUGH 3D ULTRASONIC SENSOR IN AUTONOMOUS DRIVING SYSTEM

摘要

The present specification includes the steps of obtaining a first coordinate value of a feature point using a 3D ultrasonic sensor in an autonomous driving system; Acquiring a focal length of a camera sensor for monitoring an indoor environment of the vehicle; Converting the first coordinate value into a second coordinate value based on the focal length; And obtaining an internal parameter of the camera sensor and converting the second coordinate value into a third coordinate value based on the internal parameter of the camera sensor. The first coordinate value may be located in a 3D coordinate system, and the second coordinate value and the third coordinate value may be located in a 2D coordinate system. Through this, the vehicle may generate a 3D depth image compatible with the indoor environment monitoring system installed in the vehicle through the 3D ultrasonic sensor. At least one of the autonomous vehicle, user terminal, and server of the present specification is an artificial intelligence module, a drone (Unmmanned Aerial Vehicle, UAV) robot, an augmented reality (AR) device, and a virtual reality (VR) device. ) It can be linked to a device, a device related to 5G service, etc.