Lidar device and correction method

Abstract

An embodiment discloses a LiDAR device comprising: an output unit for irradiating light; a receiving unit for receiving light from a chart and generating image information; and a control unit for controlling the output unit and the receiving unit. The control unit recognizes a plurality of dots included in the image information, assigns numbers to the plurality of dots in order, and stores the image information if the numbers assigned to the plurality of dots match the order of dots of an actual chart.

Description

Lidar device and calibration method

[0001] The embodiment relates to a lidar calibration method and device.

[0002] LiDAR (Light Detection and Ranging) devices measure the distance to or image objects using laser pulses emitted from the device and reflected back from the target object. LiDAR devices are applied to various technical fields that require 3D imaging. For example, LiDAR can be applied to various fields such as meteorology, aviation, space, and automotive. Recently, the role of LiDAR in the autonomous driving field has been rapidly increasing.

[0003] In general, the output unit of the lidar device generates an output light signal and projects it onto an object, the receiving unit receives an input light signal reflected from the object, and the information generating unit generates information about the object using the input light signal received by the receiving unit.

[0004] Meanwhile, when a lidar device receives an input light signal, image distortion can occur due to the lens. Therefore, a method for correcting this image distortion is needed. Conventional correction methods utilize a chessboard. However, this requires the use of visible light, necessitating extremely high sensor resolution. Furthermore, automotive lidar cannot use visible light to avoid obstructing the driver's view.

[0005] The embodiment provides a lidar device and correction method capable of correcting lens distortion.

[0006] In addition, a lidar device and a calibration method are provided that improve the recognition rate of a chart when calibrating the lidar device.

[0007] In addition, a lidar device and a calibration method that improve the calibration accuracy of the lidar device are provided.

[0008] The problem to be solved in the embodiment is not limited to this, and it can be said that the purpose or effect that can be understood from the solution or embodiment of the problem described below is also included.

[0009] A lidar device according to an embodiment includes an output unit that irradiates light; a receiving unit that receives light from a chart and generates image information; and a control unit that controls the output unit and the receiving unit, wherein the control unit recognizes a plurality of dots included in the image information, sequentially assigns numbers to the recognized plurality of dots, and when the numbers assigned to the plurality of dots match the order of dots on an actual chart, the corresponding image information can be stored.

[0010] The above control unit upscales the image information and can recognize a plurality of dots included in the upscaled image information.

[0011] If a plurality of dots included in the image information are not recognized, the control unit can rearrange the positions of the plurality of dots in the image information through principal component analysis (PCA).

[0012] The above control unit can sequentially assign numbers to the rearranged plurality of dots.

[0013] The above-mentioned receiving unit can receive the light at a plurality of different locations and generate respective image information for the light received at the plurality of different locations.

[0014] The above control unit can correct distortion of the image information by calculating parameters when a certain number or more of the image information received from the different multiple locations is stored.

[0015] The above control unit can obtain first data by performing FFT (Fast Foutier Transform) on the X-axis and Y-axis of the image information, and perform zero-padding on the first data.

[0016] The control unit may obtain second data by performing an inverse FFT on the first data on which the zero padding has been performed, and obtain the upscaled image information by taking only the real part of the second data and rounding it to the first decimal place.

[0017] The first data may be spatial frequency component data, and the second data may be complex float data.

[0018] The angles formed by the receiving unit and the chart are different depending on the different positions, and the control unit can correct the distortion of the image information by calculating the parameter when there are 20 or more pieces of stored image information.

[0019] The plurality of dots are arranged at regular intervals along a plurality of rows and columns on the chart, and the control unit can rearrange the positions of the plurality of dots of the image information when dots included in different rows among the plurality of dots included in the image information overlap each other in the row direction.

[0020] A lidar calibration method according to an embodiment may include a step in which a receiving unit photographs a chart including a plurality of dots to generate image information of the chart; a step in which a control unit upscales the image information of the chart; a step in which the control unit recognizes the plurality of dots; a step in which the control unit assigns a number to each of the plurality of dots; and a step in which the control unit sequentially rearranges the numbers assigned to the plurality of dots.

[0021] The above control unit may include a step of determining whether the numbers assigned to the plurality of dots match the order of the dots in the actual chart.

[0022] The control unit may include a step of storing the image information; and a step of calculating parameters when the number of stored image information is 20 or more.

[0023] The step of the control unit sequentially rearranging the numbers assigned to the plurality of dots may include a step of the control unit rearranging the positions of the plurality of dots of the image information through principal component analysis (PCA).

[0024] According to an embodiment, a lidar device and a correction method capable of correcting lens distortion can be provided.

[0025] In addition, a lidar device and a calibration method that improve the recognition rate of a chart when calibrating a lidar device can be provided.

[0026] In addition, a lidar device and a calibration method that improve the calibration accuracy of the lidar device can be provided.

[0027] The various advantageous and beneficial effects of the present invention are not limited to the above-described contents, and will be more easily understood in the course of explaining specific embodiments of the present invention.

[0028] Figure 1 is a configuration diagram of a lidar device according to an embodiment;

[0029] Figure 2 is a schematic diagram of a chart in a lidar correction method according to an embodiment;

[0030] Figure 3 is a schematic diagram showing the appearance of a lidar device and chart according to an embodiment.

[0031] Figure 4 is a flowchart of a lidar correction method according to an embodiment;

[0032] Figure 5 is a flowchart of a lidar calibration method according to another embodiment;

[0033] Figure 6 is a flowchart of a lidar calibration method according to another embodiment;

[0034] Figure 7 is a drawing showing a chart recognition rate according to a lidar correction method according to an embodiment.

[0035] FIGS. 8 and 9a to 9e are drawings explaining an image realignment method of a lidar correction method according to an embodiment.

[0036] Fig. 10 is a flowchart of a lidar correction method according to an embodiment.

[0037] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0038] However, the technical idea of ​​the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of ​​the present invention, one or more of the components between the embodiments can be selectively combined or substituted for use.

[0039] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, may be interpreted in consideration of the contextual meaning of the relevant technology.

[0040] Additionally, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0041] In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as “A and / or at least one (or more) of B, C”, it may include one or more of all combinations that can be combined with A, B, C.

[0042] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0043] These terms are intended only to distinguish one component from another, and are not intended to limit the nature, order, or sequence of the component.

[0044] And, when a component is described as being 'connected', 'coupled' or 'connected' to another component, it may include not only cases where the component is directly connected, coupled or connected to the other component, but also cases where the component is 'connected', 'coupled' or 'connected' by another component between the component and the other component.

[0045] Additionally, when described as being formed or arranged "above or below" each component, "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or arranged between the two components. Furthermore, when expressed as "above" or "below", it can include the meaning of a downward direction as well as an upward direction based on one component.

[0046] Fig. 1 is a configuration diagram of a lidar device according to an embodiment.

[0047] Referring to FIG. 1, a lidar device (100) according to an embodiment of the present invention may include an output unit (110), a receiving unit (120), an information generating unit (130), and a control unit (140).

[0048] The output unit (110) can generate and output an output light signal in the form of a pulse wave or a continuous wave. The continuous wave may be in the form of a sinusoid wave or a square wave. By generating the output light signal in the form of a pulse wave or a continuous wave, the lidar device (100) can detect a time difference or phase difference between the output light signal output from the output unit (110) and the input light signal reflected from the target area and then input to the receiving unit (120). The output unit (110) includes a light source and a lens group.

[0049] A lens group can collect light output from a light source and output the collected light to the outside. The lens group can be arranged above the light source and spaced apart from the light source. Here, the above of the light source can mean the side from which light is output from the light source. The lens group can include at least one lens, and when the lens group includes a plurality of lenses, each lens can be aligned with respect to a central axis to form an optical system. Here, the central axis can be identical to the optical axis of the optical system. The lens group can also include a diffusion member that receives light output from the light source and then outputs the received light by refracting or diffracting the received light.

[0050] The receiving unit (120) can receive an optical signal reflected from the target area. At this time, the received optical signal may be an optical signal output by the output unit (110) reflected from the target area. The receiving unit (120) includes an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. The receiving unit (120) may include a SPAD sensor.

[0051] An optical signal reflected from a target area can pass through a lens group of a receiving unit (120). The optical axis of the lens group of the receiving unit (120) can be aligned with the optical axis of the image sensor. A filter can be arranged between the lens group of the receiving unit (120) and the image sensor. The filter can be arranged on an optical path between the target area and the image sensor. The filter can filter light having a predetermined wavelength range. The filter can pass light of a specific wavelength. For example, the filter can pass light in an infrared band and block light outside of the infrared band. The image sensor can receive an optical signal and output the received optical signal as an electrical signal. The image sensor can detect light of a wavelength corresponding to the wavelength of light output by the output unit (110). For example, the image sensor can detect light in an infrared band. The image sensor can be configured with a structure in which a plurality of pixels are arranged in a grid shape.

[0052] The information generation unit (130) generates information about the target area using the input optical signal input to the reception unit (120). The information about the target area may include three-dimensional information about the target area. For example, the information about the target area may include depth information about the target area.

[0053] The control unit (140) controls the operation of the output unit (110), the receiving unit (120), and the information generating unit (130). The information generating unit (130) and the control unit (140) may be implemented in the form of a PCB (printed circuit board). In addition, the information generating unit (130) and the control unit (140) may be implemented in the form of other configurations. Alternatively, the control unit (140) may be included in a terminal or vehicle in which the lidar device (100) according to an embodiment of the present invention is installed. For example, the control unit (140) may be implemented in the form of an application processor (AP) of a smartphone in which the lidar device (100) according to an embodiment of the present invention is installed, or in the form of an electronic control unit (ECU) of a vehicle in which the lidar device (100) according to an embodiment of the present invention is installed.

[0054] Fig. 2 is a schematic diagram of a chart in a lidar correction method according to an embodiment, and Fig. 3 is a schematic diagram showing the appearance of a lidar device and a chart according to an embodiment.

[0055] Referring to FIGS. 2 and 3, a lidar calibration method according to an embodiment may use a chart (10). The chart (10) may include an LED chart. The chart (10) may include a plurality of dots (D). The plurality of dots (D) may include LED dots. The plurality of dots (D) may irradiate light. For example, the plurality of dots (D) may irradiate infrared light. The lidar device (100) may receive the light irradiated by the plurality of dots (D) of the chart (10). Specifically, the receiving unit of the lidar device (100) may receive the light irradiated by the plurality of dots (D). The plurality of dots (D) may be arranged at a predetermined interval from each other on the chart (10). For example, M dots (D0 to D) may be arranged in a horizontal direction. M-1 ) can be arranged at regular intervals. In addition, N dots (D0 to D) can be arranged in the vertical direction. N-1) can be arranged at regular intervals. In this case, a total of M*N dots can be arranged at regular intervals on the chart (10). Each of the plurality of dots (D) can irradiate light. The lidar device (100) can be arranged at a regular interval from the chart (10). In addition, the position and angle of the lidar device (100) can be changed for lidar correction. (100', 100'') As the position and angle of the lidar device (100) are changed, the lidar device (100) can capture the chart (10) at different positions and angles. Accordingly, the lidar device (100) can generate different image information at different positions and angles.

[0056] Figure 4 is a flowchart of a lidar correction method according to an embodiment.

[0057] Referring to FIG. 4, a chart including three or more LED dots can first be prepared. (S100) The chart can include three or more dots. As previously discussed in FIGS. 2 and 3, the three or more dots can be arranged in multiple rows and columns, spaced apart from each other at regular intervals.

[0058] Next, the position and angle of the lidar device can be changed. (S101) By changing the position and angle of the lidar device, the position and angle at which the chart is captured can be adjusted.

[0059] After changing the position and angle of the lidar device, the lidar device can capture a chart to generate image information. (S102) The receiver of the lidar device can receive light from the chart. The receiver can receive the light to generate image information of the chart.

[0060] A control unit of a lidar device can recognize a plurality of dots included in image information. (S103) The control unit can recognize a plurality of dots included in an image of a chart captured in the image information. The control unit can recognize the dots through a blob detection algorithm. Thereafter, the control unit can determine whether the plurality of dots have been recognized well. (S104) After determining whether the plurality of dots have been recognized well, if the control unit determines that the plurality of dots have not been recognized well, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0061] The control unit determines whether multiple dots have been recognized well, and if it determines that multiple dots have been recognized well, it can assign numbers to the multiple dots. (S105) Thereafter, the control unit can determine whether the numbers have been assigned to the multiple dots in order. (S106) If it determines that the numbers have not been assigned to the multiple dots in order, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0062] If the control unit determines that the numbers are sequentially assigned to the plurality of dots, the control unit can compare the numbers assigned to the plurality of dots with the order of the dots in the actual chart. (S107) Thereafter, the control unit can determine whether the numbers assigned to the plurality of dots match the order of the dots in the actual chart. (S108) If the control unit determines that the numbers assigned to the plurality of dots do not match the order of the dots in the actual chart, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0063] If the control unit determines that the numbers assigned to the multiple dots match the order of the dots on the actual chart, the control unit can store the corresponding image information. (S109) Thereafter, the control unit can determine whether there are 20 or more pieces of image information stored at different positions and angles of the lidar device. (S110) If the control unit determines that there are not 20 or more pieces of image information, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0064] If the control unit determines that there are 20 or more pieces of image information, the control unit can calculate parameters. (S111) The control unit can perform calibration of the lidar device by calculating parameters based on the image information. The lidar device according to the embodiment can improve the recognition rate of dots by sensing infrared rays using a chart that irradiates infrared rays, and can perform calibration of the lidar even when a low-resolution sensor is used. In addition, the method for calibrating the lidar in the lidar device according to the embodiment can be used in a vehicle dToF lidar that uses light in the infrared range rather than the visible light range.

[0065] Figures 5 and 6 are flowcharts of a lidar calibration method according to another embodiment.

[0066] Referring to FIG. 5, a chart including three or more LED dots can first be prepared (S200). The chart can include three or more dots. As previously discussed in FIGS. 2 and 3, the three or more dots can be arranged in multiple rows and columns, spaced apart from each other at regular intervals.

[0067] Next, the position and angle of the lidar device can be changed. (S201) By changing the position and angle of the lidar device, the position and angle at which the chart is captured can be adjusted.

[0068] After changing the position and angle of the lidar device, the lidar device can capture a chart to generate image information. (S202) The receiver of the lidar device can receive light from the chart. The receiver can receive the light to generate image information of the chart.

[0069] The control unit can upscale the generated image information. (S203) The control unit can perform upscaling of the generated image information to improve the dot recognition rate of the control unit. The upscaled image information can have an increased resolution.

[0070] Fig. 6 shows a detailed flowchart of a method (S203) in which a control unit upscales image information. First, the control unit can perform a Fast Foutier Transform (FFT). (S203a) The control unit can perform an FFT on the X-axis and Y-axis of the image information to obtain first data. The first data may mean spatial frequency component data. Thereafter, the control unit can perform zero-padding on the first data. (S203b) The control unit can perform zero-padding on the first data to add a higher spatial frequency component as 0. Thereafter, the control unit can perform an inverse FFT. (S203c) The control unit can perform an inverse FFT on the zero-padded first data to obtain second data. Specifically, the control unit can obtain second data by applying a 2D inverse FFT to the zero-padded first data again. The second data may mean complex float data. Thereafter, the control unit may obtain upscaled image information. (S203d) Specifically, the control unit may obtain upscaled image information by taking only the real part of the second data and rounding it to the first decimal place. The upscaled image information generated according to the image information upscaling method according to the embodiment may be 256-bit integer data. According to the embodiment, when the control unit upscales the image information, high-resolution image information can be obtained, thereby improving the recognition rate of the image information, and accurate correction of the image information is possible even with a low-performance sensor.

[0071] The control unit of the lidar device can recognize multiple dots included in the upscaled image information (S204). The control unit can recognize multiple dots included in the image of the chart captured in the upscaled image information. The control unit can recognize the dots using a blob detection algorithm. Thereafter, the control unit can determine whether the multiple dots have been properly recognized (S105).

[0072] The control unit can rearrange the positions of the plurality of dots if it determines that the plurality of dots are not recognized after determining whether the plurality of dots are recognized well. (S206) If the plurality of dots included in the image information are not recognized, the control unit can rearrange the positions of the plurality of dots of the image information through principal component analysis (PCA). The control unit can obtain principal axes through the principal component analysis and redefine them as basis vectors of the plurality of dots. After rearranging the principal components of the plurality of dots, the control unit can rearrange the numbers of the plurality of dots. Thereafter, the control unit can return the principal components of the plurality of dots to their original state. The control unit can determine whether a plurality of dots have been recognized well, and if it determines that the plurality of dots have been recognized well, it can assign numbers to the plurality of dots. (S207) The lidar device can improve the recognition rate of the chart during the calibration process of the lidar device by rearranging the positions of the plurality of dots through principal component analysis, and accordingly, can improve the accuracy of the calibration of the lidar device. Rearranging the positions of the plurality of dots of the image information through principal component analysis can be utilized when the lidar device is photographed at a different angle. Even when photographing a chart by rotating the angle of the lidar device, the plurality of dots of the image information can be arranged in a horizontal direction, just like when photographing with the angle horizontal.

[0073] The control unit can determine whether a plurality of dots are recognized well, and then assign numbers to the plurality of dots if the plurality of dots are determined to be recognized well or if the positions of the plurality of dots are rearranged. (S207) The control unit can assign numbers to the plurality of dots and compare the numbers assigned to the plurality of dots with the order of the dots in an actual chart. (S208) Thereafter, the control unit can determine whether the numbers assigned to the plurality of dots match the order of the dots in an actual chart. (S209) If the control unit determines that the numbers assigned to the plurality of dots do not match the order of the dots in an actual chart, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0074] If the control unit determines that the numbers assigned to the multiple dots match the order of the dots on the actual chart, the control unit can store the corresponding image information. (S210) Thereafter, the control unit can determine whether there are 20 or more pieces of image information stored at different positions and angles of the lidar device. (S211) If the control unit determines that there are not 20 or more pieces of image information, the control unit can change the position and angle of the lidar device again to regenerate the image information.

[0075] If the control unit determines that there are 20 or more pieces of image information, the control unit can calculate parameters. (S212) The control unit can perform calibration of the lidar device by calculating parameters based on the image information. The lidar device according to the embodiment can improve the recognition rate of dots by sensing infrared rays using a chart that irradiates infrared rays, and can perform calibration of the lidar even when a low-resolution sensor is used. In addition, the method for calibrating the lidar in the lidar device according to the embodiment can be used in a vehicle dToF lidar that uses light in the infrared range rather than the visible light range.

[0076] Fig. 7 is a diagram showing a chart recognition rate according to a lidar correction method according to an embodiment.

[0077] Fig. 7a shows image information before the control unit performs upscaling of the image information of the chart. Referring to Fig. 7a, the image information before upscaling may have a low resolution. Fig. 7b shows the dot recognition rate of the image information before upscaling. Referring to Fig. 7b, the image information before upscaling may have a low dot recognition rate. Fig. 7c shows image information after the control unit performs upscaling of the image information of the chart. Referring to Fig. 7c, the image information after upscaling may have a high resolution. Fig. 7d shows the dot recognition rate of the image information after upscaling. Referring to Fig. 7d, the dot recognition rate of the image information after upscaling may be improved compared to before upscaling.

[0078] FIG. 8 and FIG. 9 are drawings explaining an image realignment method of a lidar correction method according to an embodiment.

[0079] Fig. 8a shows the appearance before the control unit rearranges the positions of the multiple dots. When the lidar device captures the chart at a position and angle other than horizontal, the multiple dots on the chart may be captured at an angle other than horizontal, as shown in Fig. 8a. In this case, during the process of numbering the multiple dots, the multiple dots may be captured at an angle, and the order of the dots may be reversed and recognized. The chart can be divided into multiple arbitrary regions based on the image information of the captured chart. The boundaries of the regions can be formed in the direction of the rows in which the multiple dots are arranged. In this case, if the multiple dots are not arranged in a parallel direction but are arranged at an angle, the multiple dots arranged in the same row may be located in different regions. For example, in Fig. 8a, some of the dots located in the second row may be located in the first row area, and thus may be recognized during the process of aligning the dots in the first row area, which may result in an alignment error. (For example, dots aligned as 8, 10, 11, 14, 16, 18, and 20 in Fig. 8a may be incorrectly recognized dots.)

[0080] In this way, the control unit can rearrange the positions of the plurality of dots in the image information when dots included in different rows among the plurality of dots included in the image information overlap each other in the row direction.

[0081] Figure 8b shows the appearance after the control unit has rearranged the positions of multiple dots. In this case, the multiple dots are rearranged without being slanted, so that the dots can be accurately recognized in order.

[0082] Fig. 9a shows the appearance before the control unit rearranges the positions of the multiple dots. When the lidar device captures the chart at a position and angle other than the horizontal direction, the multiple dots on the chart may be captured tilted at a certain angle other than the horizontal direction, as in Fig. 9a. Fig. 9b shows the process in which the control unit obtains the principal axes through principal component analysis and redefines them as basis vectors of the multiple dots. In order to align the arrangement direction of the multiple dots horizontally, the direction in which the multiple tilted dots are aligned can be tracked. Fig. 9c shows the appearance in which the control unit rearranges the principal components of the multiple dots. By rearranging the principal components of the multiple dots, the arrangement direction in which the multiple dots are arranged can be rearranged in the horizontal direction. Fig. 9d shows the appearance in which the control unit rearranges the multiple dots. When the principal components of multiple dots are rearranged, the multiple dots can be arranged along multiple rows and columns. In this case, the rearrangement can start from the first column of the first row in the row direction and number all dots. Fig. 9e shows the appearance after the multiple dots are rearranged and then returned to the original principal components. In the process of calibrating the lidar device according to the embodiment, when the image is rearranged, even when the position and angle of the lidar device are adjusted to capture the chart, the image information can be prevented from being tilted and the dots not being recognized. Accordingly, the recognition rate of the chart can be improved, thereby enhancing the accuracy of the calibration.

[0083] Figure 10 is a flowchart of a lidar correction method (S1000) according to an embodiment.

[0084] Referring to FIG. 10, a lidar calibration method (S1000) according to an embodiment may include a step of generating image information of a chart (S1100), a step of upscaling the image information (S1200), a step of recognizing a plurality of dots (S1300), a step of rearranging positions of the plurality of dots (S1400), a step of assigning numbers to the plurality of dots (S1500), a step of determining whether the numbers assigned to the plurality of dots match the order of the dots of an actual chart (S1600), a step of storing the image information (S1700), and a step of calculating parameters (S1800). The step of sequentially rearranging the numbers assigned to the plurality of dots (S1500) may include a step in which a control unit rearranges positions of the plurality of dots of the image information through principal component analysis (PCA).

[0085] A receiving unit can generate image information of a chart. A control unit can upscale the image information generated by the receiving unit. The control unit can recognize a plurality of dots in the upscaled image information. If the recognized plurality of dots are not properly recognized, the control unit can rearrange the positions of the plurality of dots. The control unit can assign numbers to the rearranged plurality of dots. The control unit can determine whether the numbers assigned to the plurality of dots match the order of the dots in an actual chart. Thereafter, if the numbers assigned to the plurality of dots match the actual order, the control unit can store the corresponding image information. If the number of stored image information is 20 or more, the control unit can perform calibration of the lidar device by calculating parameters. A lidar calibration method according to an embodiment can be used in a lidar device to which a lens is applied to correct distortion due to the lens.

[0086] Although the above description focuses on examples, these are merely examples and are not intended to limit the examples. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present examples. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be interpreted as being included within the scope of the embodiments set forth in the appended claims.

Claims

1. Output section for irradiating light; A receiving unit that receives light from a chart and generates image information; and Including a control unit that controls the output unit and the receiving unit, A lidar device in which the control unit recognizes a plurality of dots included in the image information, sequentially assigns numbers to the recognized plurality of dots, and stores the corresponding image information when the numbers assigned to the plurality of dots match the order of the dots in an actual chart.

2. In paragraph 1, The above control unit is a lidar device that upscales the image information and recognizes a plurality of dots included in the upscaled image information.

3. In paragraph 2, The above control unit is a lidar device that rearranges the positions of the plurality of dots of the image information through principal component analysis (PCA) when the plurality of dots included in the image information are not recognized.

4. In paragraph 3, The above control unit is a lidar device that sequentially assigns numbers to the plurality of rearranged dots.

5. In paragraph 4, A lidar device in which the receiving unit receives the light at a plurality of different locations and generates image information for each light received at the plurality of different locations.

6. In paragraph 5, The above control unit is a lidar device that calculates parameters and corrects distortion of the image information when a certain number or more of the image information received from the different plurality of locations is stored.

7. In paragraph 2, A lidar device in which the control unit performs FFT (Fast Foutier Transform) on the X-axis and Y-axis of the image information to obtain first data and performs zero padding on the first data.

8. In paragraph 7, A lidar device in which the control unit performs an inverse FFT on the first data on which the zero padding has been performed to obtain second data, and obtains the upscaled image information by taking only the real part of the second data and rounding it to the first decimal place.

9. In paragraph 8, The above first data is spatial frequency component data, The above second data is a lidar device which is complex float data.

10. In paragraph 6, The angles formed by the receiver and the chart are different depending on the different multiple locations mentioned above, The above control unit is a lidar device that calculates the parameter and corrects distortion of the image information when there are 20 or more pieces of stored image information.

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