APPARATUS AND METHOD FOR DETECTING AN OBSTACLE USING STEREO CAMERAS

摘要

An apparatus and method for detecting an obstacle using stereo cameras are disclosed. The apparatus comprises: a stereo camera unit for obtaining an image for an obstacle to detect the vertical and horizontal features of the obstacle; a parallax map generator for extracting the vertical boundary of the obstacle from the vertical features of the obstacle to generate a V-parallax map and extracting the horizontal boundary of the obstacle from the horizontal features of the obstacle to generate a U-parallax map; and an obstacle detector for extracting obstacle information including the horizontal coordinates, vertical coordinates, height, and width of the obstacle, based on the V-parallax map and the U-parallax map. Thus, the obstacle can be accurately detected in real time using the V-parallax map and the U-parallax map using the vertical and horizontal boundary information of the image. [Reference numerals] (100) Stereo camera unit; (200) Filter unit; (300) Parallax map generator; (400) Obstacle detector; (AA) Obstacle image; (BB) Obstacle information