Method for Real-time Object Detection Based on Lidar Sensor and Camera Using CNN

摘要

A camera and lidar sensor-based real-time object detection method and apparatus using CNN are presented. The camera and lidar sensor-based real-time object detection method using CNN proposed in the present invention learns object detection for a plurality of YOLOs based on CNN based on PCD (Point Cloud Data) and image data including reflectance and distance information. performing each of the steps, predicting a bounding box and a confidence score for an object in each object detection model learned based on PCD and image data, and assigning the coordinates of the bounding box to the object in order to fuse the object detection results It includes the step of determining the final bounding box through a weighted average based on the confidence score for