首页>
外国专利>
3D LIDAR METHOD FOR DETECTING DEFECTS IN THE 3D LIDAR SENSOR USING POINT CLOUD DATA
3D LIDAR METHOD FOR DETECTING DEFECTS IN THE 3D LIDAR SENSOR USING POINT CLOUD DATA
展开▼
机译：3D使用点云数据检测3D LIDAR传感器缺陷的LIDAR方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
The present invention relates to a 3D LiDAR sensor defect detection method using point cloud data, and in particular, to a technology for detecting a sensor defect through point cloud data with another 3D LiDAR sensor when a failure occurs in a 3D LiDAR sensor. The present invention comprises the steps of generating information on a subject obtained by a three-dimensional lidar sensor as point cloud data corresponding to image coordinates; calculating a rotation (R) and a translation (T) capable of minimizing an error in each direction by applying an Iterative Closest Point (ICP) algorithm to the point cloud data; and detecting a lidar sensor having an error among the three-dimensional lidar sensors by calculating a 2-norm of the error from the rotation and translation for each direction. A defect detection method is provided. According to the present invention having the configuration as described above, by detecting an object based on the calibrated 3D LiDAR data, the defect of the 3D LiDAR sensor can be quickly detected, and the occurrence of a dangerous situation due to abnormal object detection is prevented. There is an advantage in that the safety of the vehicle can be secured even in a faulty situation.
展开▼
