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1. WO2020067751 - DEVICE AND METHOD FOR DATA FUSION BETWEEN HETEROGENEOUS SENSORS

Publication Number WO/2020/067751
Publication Date 02.04.2020
International Application No. PCT/KR2019/012562
International Filing Date 27.09.2019
IPC
G01S 17/02 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
G01S 17/89 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
89for mapping or imaging
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06T 5/50 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
50by the use of more than one image, e.g. averaging, subtraction
G06T 7/80 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
G01D 18/00 2006.01
GPHYSICS
01MEASURING; TESTING
DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
18Testing or calibrating apparatus or arrangements provided for in groups G01D1/-G01D15/124
CPC
G01D 18/00
GPHYSICS
01MEASURING; TESTING
DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
18Testing or calibrating of apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
G01S 17/02
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G01S 7/497
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
497Means for monitoring or calibrating
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06T 5/50
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
50by the use of more than one image, e.g. averaging, subtraction
Applicants
  • 재단법인대구경북과학기술원 DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY [KR]/[KR]
Inventors
  • 이진희 LEE, Jin Hee
  • 아재이쿠마 AJAY, Kumar
  • 권순 KWON, Soon
  • 김광회 KIM, Kwang Hoe
  • 원웅재 WON, Woong Jae
  • 윤성훈 YOUN, Sung Hoon
Agents
  • 특허법인 무한 MUHANN PATENT & LAW FIRM
Priority Data
10-2018-011614128.09.2018KR
10-2019-002048021.02.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) DEVICE AND METHOD FOR DATA FUSION BETWEEN HETEROGENEOUS SENSORS
(FR) DISPOSITIF ET PROCÉDÉ DE FUSION DE DONNÉES ENTRE CAPTEURS HÉTÉROGÈNES
(KO) 이종 센서 간의 데이터 융합 장치 및 방법
Abstract
(EN)
A device and a method for data fusion between heterogeneous sensors are disclosed. The method for data fusion between heterogeneous sensors can comprise the steps of: using a marker board having holes so as to identify image data and point cloud data for a search area through each of a camera sensor and a LiDAR sensor between which calibration is performed; recognizing a transformation vector determined through the calibration between the camera sensor and the LiDAR sensor; and using the recognized transformation vector so as to project the cloud data of the LiDAR sensor to the image data of the camera sensor, thereby fusing the identified image data and point cloud data.
(FR)
L'invention concerne un dispositif et un procédé pour la fusion de données entre des capteurs hétérogènes. Le procédé de fusion de données entre des capteurs hétérogènes peut comprendre les étapes consistant à : utiliser une carte de marquage comportant des trous de façon à identifier des données d'image et des données de nuage de points pour une zone de recherche par l'intermédiaire de chacun d'un capteur de caméra et d'un capteur LiDAR entre lesquels un étalonnage est effectué; reconnaître un vecteur de transformation déterminé par l'intermédiaire de l'étalonnage entre le capteur de caméra et le capteur LiDAR; et utiliser le vecteur de transformation reconnu de façon à projeter les données de nuage du capteur LiDAR sur les données d'image du capteur de caméra, ce qui permet de fusionner les données d'image identifiées et les données de nuage de points.
(KO)
이종 센서 간의 데이터 융합 장치 및 방법이 개시된다. 이종 센서 간의 데이터 융합 방법은 홀이 존재하는 마커 보드를 이용하여 캘리브레이션이 수행된 카메라 센서 및 라이다(LiDAR) 센서 각각을 통해 탐색 영역에 대한 이미지 데이터 및 포인트 클라우드 데이터를 식별하는 단계; 상기 카메라 센서 및 라이다 센서의 캘리브레이션을 통해 결정된 변환 벡터를 인식하는 단계; 및 상기 인식된 변환 벡터를 이용하여 상기 라이다 센서의 클라우드 데이터를 상기 카메라 센서의 이미지 데이터로 투영함으로써 상기 식별된 이미지 데이터 및 포인트 클라우드 데이터를 융합하는 단계를 포함할 수 있다.
Also published as
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