Object detection and visualization using CNN image analysis and Lidar point cloud for distance measurement

???????????? ?????? ?????? ????????? ADAS ????????? ???????????? ????????? ??????????????? ????????? ????????? ???????????? ?????? ????????? ????????? ????????????. 2012??? ????????? ???????????? GPU??? ????????? ????????? ????????? ????????? ?????????????????? ????????? ???????????? ????????? GPU ????????? ?????? ?????? ????????? ?????? ????????? ???????????????. ??? ??????????????? GPU ?????? ???????????? ?????? ???????????? ???????????? ????????? ????????? Lidar ???????????? ????????? ??? ????????? ?????? ???????????? ????????? ?????? ??? ??????????????? ???????????? ?????? ?????? ?????? ?????????????????? ??????????????? ?????????. ?????? ?????? ???????????? 6??? ????????? ???????????? 4??? Lidar ??? ???????????? ???????????????. ????????? ???????????? CNN ?????? ?????? ?????? ????????? DriveNet ??? ?????? ????????? ????????? ?????? ????????? ????????????, 4??? Lidar ??? 3d point cloud data ??? ????????? ?????? 3?????? transformation & rotation ???????????? ????????? ??? PCL ?????????????????? ????????? ???????????? ?????? ???????????? ???????????????. ????????? ????????? ?????? ?????? ?????? ???????????? ????????? ???????????? ????????? D-GPS??? ???????????? ???????????? ????????? ????????? ?????? ????????? ????????? ????????? ?????? ????????? ???????????? ???????????? ???????????????. ????????? ???????????? ?????? ?????? ??????????????? ????????? ?????? ????????? 1????????? 24Fps??? ????????????, Calibration ?????? ????????? ????????? ?????? ?????? ???????????? ????????? ???????????? ?????? ???????????? ??0.8 m ??????. Lidar ???????????? ?????? ?????? Lidar 2?????? Integration ?????? ???????????? PCL ??????????????? ????????? FPFH API??? ???????????? ????????? ????????? ??? ?????? ???????????? ????????? ?????? ?????? ???????????? ??0.5 m ??? ?????????.Maste