Obstacle detecting apparatus and obstacle detecting method

Abstract

The invention relates to an obstacle detecting apparatus and an obstacle detecting method and an exemplary embodiment of the invention provides an obstacle detecting apparatus, including: a stereo camera which photographs a front of a vehicle to generate a left image and a right image; an image matching unit which applies a block matching algorithm to the left image and the right image to extract a plurality of feature points having a similarity which is equal to or larger than a reference value and calculate a coordinate and a depth of the plurality of extracted feature points; a plane calculating unit which connects every three feature points of the plurality of feature points to calculate a plurality of triangles, based on the coordinate and the depth of the plurality of feature points; a normal calculating unit which calculates directions of normal of the plurality of triangles, based on the coordinate and the depth of three feature points corresponding to vertexes of the plurality of triangles; and an obstacle detecting unit which detects an obstacle in front of the vehicle based on a result of comparing a photographing direction of the stereo camera with the normal directions of the plurality of triangles.

Description

[0001] Cross References to Related Applications [0002] This application claims priority from Korean Patent Application No. 10-2014-0186267 filed on December 22, 2014, the entire contents of which are incorporated herein by reference. technical field [0003] The present invention relates to an obstacle detection device, and more particularly, to an obstacle detection device and an obstacle detection method, which set a feature point in a vehicle front image output by a stereo camera to calculate the plane, and increase the adjacent plane by calculating the normal, and then detect obstacles in the normal direction. Background technique [0004] Recently, a technology of detecting an object in front of the vehicle to control the vehicle according to the object has been applied to various vehicles. In particular, the use of technology that detects objects around a vehicle using a stereo camera is increasing. [0005] However, due to the complex operation, the object detecti...

AI Technical Summary

Problems solved by technology

[0005] However, due to the complexity of the calculation, the object detection device using the stereo camera in the prior art has the problem that the images near the vehicle need to be processed in real time

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