APPARATUS FOR TRACKING OBSTACLE USING STEREO VISION AND METHOD THEREOF

摘要

PURPOSE: An apparatus for tracking an obstacle using a stereo vision and a method thereof are provided to estimate an actual location of an obstacle, predict a path, and measure correlation for detected candidate groups, thereby robustly tracking an obstacle object. CONSTITUTION: A location of an obstacle of a current frame is measured using a depth map(S204). A location of the next frame is predicted using a measurement value of the current frame(S206). Candidate groups existing in a candidate area with suitable reliability are selected in the next frame(S210). Correlation for each object is calculated in a past image and a current image for the candidate groups. A final candidate group is selected so that an obstacle is tracked(S214).