| 摘要 |
A method and an apparatus for recognizing a parking lot and a parking assistance system using the apparatus are provided to recognize the parking lot accurately and promptly, based on a reference point inputted from a driver. An input image is received from a camera. A reference point, where a driver wants to park a car, is inputted from a user interface(S210). The input image is converted into an air view(S220). A plurality of marking line segments and directions of the marking line segments are estimated on the air view by using directivity brightness changes according to the distances(S240). Among one or more marking line segments crossing a sight direction between the camera and the reference point, the nearest marking line segment to the camera is recognized as a guide line(S260). A plurality of divisional line segments is recognized in a direction of the guide line, thereby recognizing a parking lot by using the guide line and the divisional line segments(S270). |
