LiDAR High-Elevation Structure Recognition via Point Extraction
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Solution Overview
Problem
Conventional methods using LiDAR sensors struggle to recognize high-elevation structures in real time due to limitations in processing and interpreting point cloud data from these sensors.
Innovation Solution
An apparatus and method that utilize a LiDAR sensor to recognize high-elevation structures by extracting relevant points, filtering noise, and generating the contour and location of the structure using a point-extracting unit, a point-filtering unit, and an information-generating unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional LiDAR-based location estimation methods are used, then the system can operate with simple processing, but it cannot recognize high-elevation structures in real time
Solution Approach 1:
The patent segments the point cloud data processing into distinct stages: initial point cloud acquisition, point extraction based on elevation thresholds, contour generation from extracted points, and location estimation using the contour. This segmentation allows the system to focus computational resources on critical processing steps, enabling real-time recognition of high-elevation structures while maintaining accuracy.
Solution Approach 2:
The patent extracts only the relevant points from the complete point cloud data that correspond to high-elevation structures, separating them from the rest of the environmental data. This extraction process isolates the critical information needed for structure recognition, reducing computational complexity and enabling real-time processing without sacrificing measurement precision.
2Loss of information
If the entire point cloud is processed to estimate vehicle location, then comprehensive environmental mapping is achieved, but recognition of high-elevation structures becomes computationally difficult
Solution Approach 1:
The patent applies extraction by selecting and isolating points that meet specific elevation criteria from the complete point cloud. This creates a simplified subset of data containing only high-elevation structure information, reducing processing complexity while preserving all relevant information about these structures for accurate recognition and location estimation.
Solution Approach 2:
The patent applies local quality by applying different processing strategies to different portions of the point cloud data. High-elevation points receive specialized processing (extraction and contour generation) while other points are handled through standard mapping procedures. This localized approach reduces overall processing complexity while maintaining information completeness for high-elevation structures.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and real-time recognition of high-elevation structures, improving the precision of vehicle localization and autonomous driving systems by providing reliable information about the structure's location and contour.
Implementation Method 1
a LiDAR sensor mounted on the host vehicle 10 may radiate a laser beam toward an object
Data Source
AI summary
An apparatus and a method for recognizing a high-elevation structure using a LiDAR sensor are provided. The apparatus includes an object-sensing unit configured to output a point cloud, acquired by sensing an object, as LiDAR data, a point-extracting unit configured to extract points associated with a high-elevation structure, which corresponds to an object having a height greater than or equal to a predetermined level, from among points included in the LiDAR data, and an information-generating unit configured to generate the contour of the high-elevation structure and estimate the location of the high-elevation structure using the extracted points and to output the generated contour and the estimated location as information representing the high-elevation structure.