METHOD AND APPARATUS FOR OBJECT DETECTION IN 3D POINT CLOUDS

摘要

The present invention relates to a method and apparatus for detecting an object of a three-dimensional point cloud, wherein the apparatus for detecting an object of a three-dimensional point cloud is a three-dimensional model for reconstructing a three-dimensional model using three-dimensional point cloud data (3D Point Cloud Data) A reconstruction unit, a two-dimensional object detector for detecting an object in at least one two-dimensional image taken to generate the three-dimensional point cloud data, and an object on the three-dimensional model through the two-dimensional position of the detected object It may include a three-dimensional position estimator for estimating the three-dimensional position of the detected object by creating an enclosing cylinder, and an object region extractor for extracting an object region by obtaining three-dimensional point cloud data included in the cylinder. have.