APPARATUS AND METHOD FOR OBSTACLE DETECTION

摘要

An apparatus and a method for detecting obstacles are disclosed. The apparatus for detecting obstacles according to an embodiment of the present invention comprises: a first detection unit for detecting an area of interest which has the possibility of including an obstacle from a disparity map of a stereo image; a second detection unit for detecting a horizontal position of the obstacle corresponding to an area expected to be a shadow in the area of interest using a brightness-based histogram of the area of interest; and a third detection unit for detecting an obstacle area including the obstacle using vertical edge information between the horizontal positions.