Driving assistant apparatus of vehicle and operating method thereof

摘要

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.

主权项

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, wherein the processor includes: a stereo-matching unit configured to stereo-match the first image and the second image to obtain the dense disparity map; and a road surface estimating unit configured to estimate the cubic b-spline curved line from the dense disparity map by using the coarse-to-fine method, wherein the road surface estimating unit includes:
a pixel processing unit configured to three-dimensionally restore all of the pixels of the dense disparity map, and accumulate the three-dimensionally restored pixels on an YZ plane;a piece-wise linear function estimating unit configured to estimate a piece-wise linear function from a result of the accumulation; anda cubic b-spline curved line estimating unit configured to estimate a cubic b-spline curved line based on the estimated piece-wise linear function.