METHOD AND APPARATUS FOR ESTIMATING A POSITION OF A VEHICLE

摘要

PURPOSE: A method and an apparatus for estimating the position of a vehicle are provided to obtain a local horizon image of different directions and to compare the obtained image and mounted topographical data to estimate the position of the vehicle. CONSTITUTION: An apparatus for estimating the position of a vehicle obtains front images through a camera of a vehicle(S110). The apparatus extracts an edge image or a horizontal line from an obtained front image(S120). The apparatus generates a horizontal model(S130). The apparatus performs an alignment process between the extracted horizontal lines and the horizontal lines created from the horizontal model(S140). If the number of alignment processes is larger than a set number(S150), the error of the vehicle is calculated using different alignment results(S170). The apparatus determines the estimated location in the vehicle unit(S180). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S110) Obtaining front images through camera of vehicle; (S120) Extracting edge image or horizontal line from obtained front image; (S130) Generating horizontal model; (S140) Alignment process between extracted horizontal lines and horizontal lines created from horizontal model; (S150) Number of alignment process > N?; (S160) Changing angle of camera; (S170) Calculating error of vehicle using different alignment; (S180) Determining estimated locations about vehicle