METHOD FOR DISTANCE ESTIMATION AND APPARATUS FOR THE SAME USING A DISPARITY AND A PERSPECTIVE

摘要

A distance estimation device and an estimation method are provided to accurately detect the location of an object in order to estimate the distance without using additional sense. A distance estimation method using stereo vision comprises: a step of estimating the distance of an object using the variance from a photographed image; a step of filtering a estimated distance value in order to calculate a first probability density(S908); a step of calculating the height of the object using the distance value in which the first probability density is maximum, if the distance value and a covariance value is smaller than a critical value(S914); a step of estimating the distance of the object using the height of the object; a step of filtering the estimated distance value in order to calculate a second probability density(S918); and a step of regarding the distance in which the probability density is maximum based on the first probability density and the second probability density as the distance of the object(S920).