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ÇѱÛÁ¦¸ñ(Korean Title) |
Ŭ·¯½ºÅ͸µ ¾Ë°í¸®Áò¿¡¼ Àúºñ¿ë 3D LiDAR ±â¹Ý °´Ã¼ °¨Áö¸¦ À§ÇÑ Çâ»óµÈ ÆĶó¹ÌÅÍ Ãß·Ð |
¿µ¹®Á¦¸ñ(English Title) |
Improved Parameter Inference for Low-Cost 3D LiDAR-Based Object Detection on Clustering Algorithms |
ÀúÀÚ(Author) |
±è´ÙÇö
¾ÈÁØÈ£
Da-hyeon Kim
Jun-ho Ahn
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¿ø¹®¼ö·Ïó(Citation) |
VOL 23 NO. 06 PP. 0071 ~ 0078 (2022. 12) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®Àº 3D LiDARÀÇ Æ÷ÀÎÆ® Ŭ¶ó¿ìµå µ¥ÀÌÅ͸¦ °¡°øÇÏ¿© 3D °´Ã¼Å½Áö¸¦ À§ÇÑ ¾Ë°í¸®ÁòÀ» Á¦¾ÈÇß´Ù. ±âÁ¸¿¡ 2D LiDAR¿Í ´Þ¸® 3D LiDAR ±â¹ÝÀÇ µ¥ÀÌÅÍ´Â ³Ê¹« ¹æ´ëÇϸç 3Â÷¿øÀ¸·Î °¡°øÀÌ Èûµé¾ú´Ù. º» ³í¹®Àº 3D LiDAR ±â¹ÝÀÇ ´Ù¾çÇÑ ¿¬±¸µéÀ» ¼Ò°³ÇÏ°í 3D LiDAR µ¥ÀÌÅÍ Ã³¸®¿¡ °üÇØ ¼¼úÇÏ¿´´Ù. º» ¿¬±¸¿¡¼´Â °´Ã¼Å½Áö¸¦ À§ÇØ Å¬·¯½ºÅ͸µ ±â¹ýÀ» È°¿ëÇÑ 3D LiDARÀÇ µ¥ÀÌÅ͸¦ °¡°øÇÏ´Â ¹æ¹ýÀ» Á¦¾ÈÇÏ¸ç ¸íÈ®ÇÏ°í Á¤È®ÇÑ 3D °´Ã¼Å½Áö¸¦ À§ÇØ Ä«¸Þ¶ó¿Í À¶ÇÕÇÏ´Â ¾Ë°í¸®Áò ¼³°èÇÏ¿´´Ù. ¶ÇÇÑ, 3D LiDAR ±â¹Ý µ¥ÀÌÅ͸¦ Ŭ·¯½ºÅ͸µÇϱâ À§ÇÑ ¸ðµ¨À» ¿¬±¸ÇÏ¿´À¸¸ç ¸ðµ¨¿¡ µû¸¥ ÇÏÀÌÆÛ ÆĶó¹ÌÅÍ°ªÀ» ¿¬±¸ÇÏ¿´´Ù. 3D LiDAR ±â¹Ý µ¥ÀÌÅ͸¦ Ŭ·¯½ºÅ͸µÇÒ ¶§, DBSCAN ¾Ë°í¸®ÁòÀÌ °¡Àå Á¤È®ÇÑ °á°ú¸¦ º¸¿´À¸¸ç DBSCANÀÇ ÇÏÀÌÆÛ ÆĶó¹ÌÅÍ°ªÀ» ºñ±³ ºÐ¼®ÇÏ¿´´Ù. º» ¿¬±¸°¡ ÃßÈÄ 3D LiDAR¸¦ È°¿ëÇÑ °´Ã¼Å½Áö ¿¬±¸¿¡ µµ¿òÀÌ µÉ °ÍÀÌ´Ù. |
¿µ¹®³»¿ë (English Abstract) |
This paper proposes an algorithm for 3D object detection by processing point cloud data of 3D LiDAR. Unlike 2D LiDAR, 3D LiDAR-based data was too vast and difficult to process in three dimensions. This paper introduces various studies based on 3D LiDAR and describes 3D LiDAR data processing. In this study, we propose a method of processing data of 3D LiDAR using clustering techniques for object detection and design an algorithm that fuses with cameras for clear and accurate 3D object detection. In addition, we study models for clustering 3D LiDAR-based data and study hyperparameter values according to models. When clustering 3D LiDAR-based data, the DBSCAN algorithm showed the most accurate results, and the hyperparameter values of DBSCAN were compared and analyzed. This study will be helpful for object detection research using 3D LiDAR in the future. |
Å°¿öµå(Keyword) |
3D LiDAR
Ŭ·¯½ºÅ͸µ
°´Ã¼Å½Áö
Ä«¸Þ¶ó À¶ÇÕ
ÇÏÀÌÆÛ ÆĶó¹ÌÅÍ
3D LiDAR
Clustering
Object detection
Fusion camera
Hyper-parameter
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