Dynamic LiDAR Region-of-Interest Setting Algorithm Based on Driving Situations and Path for Improved Efficiency

Sungpyo Sagong; Jongho Kim; Kyongsu Yi

doi:10.22680/kasa2025.17.2.006

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2025 Vol.17, Issue 2 Next Page

Dynamic LiDAR Region-of-Interest Setting Algorithm Based on Driving Situations and Path for Improved Efficiency 라이다 처리 효율 향상을 위한 주행상황 및 경로 기반 동적 라이다 관심영역 설정 알고리즘

30 June 2025. pp. 6-13

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Abstract

This paper presents an algorithm for setting dynamic LiDAR regions-of-interest (ROI) based on driving situations and paths to improve efficiency in autonomous vehicle perception using LiDAR data. The proposed algorithm selects only the relevant ROI for the vehicle movements, eliminating unnecessary computations and ensuring real-time, computationally efficient operations. Different driving situations, such as lane keeping, lane change, and passing intersections, are considered for dynamic ROI settings. In these situations, the algorithm considers the interested area based on the driving path and determines the required perception range for safety, considering vehicle speed and acceleration values. To select LiDAR points more flexibly, the proposed algorithm uses a boundary-setting method that assigns indices to the LiDAR points instead of the conventional box-based ROI selection method. The algorithm has been validated using LiDAR data obtained from actual driving tests conducted at the Sangam Autonomous Driving Test Area. It has demonstrated improved efficiency by reducing the total number of points and processing times.

Keywords

Autonomous driving(자율주행)

LiDAR region of interest(라이다 관심영역)

LiDAR preprocessing(라이다 전처리)

Point cloud processing(점군집 데이터 처리)

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 17
No :2
Pages :6-13
Received Date : 2023-10-04
Revised Date : 2024-03-19
Accepted Date : 2024-03-20
DOI :https://doi.org/10.22680/kasa2025.17.2.006

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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