DRIVING ASSISTANT APPARATUS OF VEHICLE AND OPERATING METHOD THEREOF
First Claim
Patent Images
1. An apparatus for assisting driving, comprising:
- a stereo camera module mounted in a vehicle, and configured to obtain a first image through a first camera and a second image through a second camera; and
a processor configured to stereo-match the first image and the second image to obtain a dense disparity map, estimate a cubic b-spline curved line from the dense disparity map by using a coarse-to-fine method, and perform a road profile for two-dimensionally converting a 3D road, on which the vehicle travels, by using the cubic b-spline curved line.
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Abstract
Disclosed is an apparatus for assisting driving, including: a stereo camera module mounted in a vehicle, and configured to obtain a first image through a first camera and a second image through a second camera; and a processor configured to stereo-match the first image and the second image to obtain a dense disparity map, estimate a cubic b-spline curved line from the dense disparity map by using a coarse-to-fine method, and perform a road profile for two-dimensionally converting a 3D road, on which the vehicle travels, by using the cubic b-spline curved line.
21 Citations
17 Claims
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1. An apparatus for assisting driving, comprising:
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a stereo camera module mounted in a vehicle, and configured to obtain a first image through a first camera and a second image through a second camera; and a processor configured to stereo-match the first image and the second image to obtain a dense disparity map, estimate a cubic b-spline curved line from the dense disparity map by using a coarse-to-fine method, and perform a road profile for two-dimensionally converting a 3D road, on which the vehicle travels, by using the cubic b-spline curved line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of operating an apparatus for assisting driving for a vehicle including a stereo camera module, which obtains a first image through a first camera and a second image through a second camera, the method comprising:
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stereo-matching the first image and the second image to obtain a dense disparity map; estimating a cubic b-spline curved line from the dense disparity map by using a coarse-to-fine method; and performing a road profile for two-dimensionally converting a 3D road, on which the vehicle travels, by using the cubic b-spline curved line. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification