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Registered APPARATUS FOR RECOGNIZING OBJECT OF AUTOMATED DRIVING SYSTEM USING ERROR REMOVAL BASED ON OBJECT CLASSIFICATION AND METHOD USING THE SAME

Inventors
Lee Dong-Jin, Dooseop Choi, Seung Jun Han, Yongwoo Jo, Kang Jungyu, Min Kyoung-Wook, Taeghyun An, Jeong Dan Choi, Kang Do Wook, Song Yoo-Seung, Sung Kyung Bok, Jae-Hyuck Park, Jooyoung Kim
Application No.
17380663 (2021.07.20)
Publication No.
20220164609 (2022.05.26)
Registration No.
11507783 (2022.11.22)
Country
UNITED STATES
Project Code
20HS5500, Development of standards SW platform based autonomous driving technology to solve social problems of mobility and safety for public transport marginal, Min Kyoung-Wook
Abstract
Disclosed herein are an object recognition apparatus of an automated driving system using error removal based on object classification and a method using the same. The object recognition method is configured to train a multi-object classification model based on deep learning using training data including a data set corresponding to a noise class, into which a false-positive object is classified, among classes classified by the types of objects, to acquire a point cloud and image data respectively using a LiDAR sensor and a camera provided in an autonomous vehicle, to extract a crop image, corresponding to at least one object recognized based on the point cloud, from the image data and input the same to the multi-object classification model, and to remove a false-positive object classified into the noise class, among the at least one object, by the multi-object classification model.
KSP Keywords
Automated driving, Autonomous vehicle, Classification models, Data sets, Driving system, Image data, LiDAR sensors, Multi-object, Object Classification, Object recognition, Point clouds, Recognition method, deep learning(DL), model-based, training data
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Registered 객체 분류 기반의 오류 제거를 이용한 자율 주행 시스템의 객체 인식 장치 및 이를 이용한 방법 KOREA KIPRIS