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이형(Hyung Lee),박철우(Chulwoo Park),이한동(Handong Lee),원상연(Sanyeon Won) 한국컴퓨터정보학회 2023 한국컴퓨터정보학회논문지 Vol.28 No.12
In this paper, we propose a method to extract the features of five sensor-only facilities built as infrastructure for autonomous cooperative driving, which are from point cloud data acquired by LiDAR. In the case of image acquisition sensors installed in autonomous vehicles, the acquisition data is inconsistent due to the climatic environment and camera characteristics, so LiDAR sensor was applied to replace them. In addition, high-intensity reflectors were designed and attached to each facility to make it easier to distinguish it from other existing facilities with LiDAR. From the five sensor-only facilities developed and the point cloud data acquired by the data acquisition system, feature points were extracted based on the average reflective intensity of the high-intensity reflective paper attached to the facility, clustered by the DBSCAN method, and changed to two-dimensional coordinates by a projection method. The features of the facility at each distance consist of three-dimensional point coordinates, two-dimensional projected coordinates, and reflection intensity, and will be used as training data for a model for facility recognition to be developed in the future.
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