METHOD FOR DETECTING CRITICAL AREA FOR PEDESTRIAN PROTECTION SYSTEM AND APPARATUS THEREFOR

摘要

Disclosed are a stereo vision-based method and apparatus for detecting a hazardous area. The method for detecting a hazardous area includes acquiring a disparity map from a pair of stereo images; acquiring information on topography of a road surface based on the disparity map; generating information on an obstacle area based on the information on topography of a road surface; acquiring a boundary of an obstacle based on the obstacle area information; acquiring information on changes in the distance to an obstacle surface defined with respect to the boundary of the obstacle; and determining a position, where the distance change is greater than a predefined reference, as a hazardous area based on the distance change information. Accordingly, both the erroneous detection rate and the amount of operation of a pedestrian detection system can be lowered. Toughness against vehicle movement and road situations can be secured better compared with the related art. By using a stereo camera, the present invention can secure advantages in terms of price, installation ability, and domestic production of the system.