Apparatus And Method For Correcting Errors Of Detected Objects Based On Point Cloud

摘要

The present invention obtains a point cloud composed of a plurality of points including three-dimensional position information using lidar, and detects and obtains an area in which a predetermined object exists from the point cloud by an object detection device in a predetermined manner. A model for obtaining an object model having a generalized shape corresponding to the designated object by receiving the authorized object area, arranging the object area on the point cloud, and arranging and arranging the object model according to the placed object area Alignment unit, a two-dimensional projection unit that sets a rear region that has passed through the aligned object model from the lidar as a penetration region, and projects a penetrating point included in the penetrating region among points of the point cloud onto a two-dimensional projection plane and a penetration point detector configured to search for the penetration point projected on the projection plane and erase the object area detected by the object detection device according to a search result, wherein the detection object error detects and removes an erroneously detected object. Calibration devices and methods may be provided.