Apparatus for generating panoramic road pavement image using a vehicle-mounted camera and method of generating panoramic road pavement image

摘要

The present invention relates to a road surface panoramic image generating apparatus and a panorama image generating method using a black box video that generates a panoramic image of a road surface by using only a vehicle black box camera, A road surface panoramic image generating apparatus using a black box video according to an embodiment of the present invention, An image input unit for inputting a video image photographed by a vehicle black box; Using the input video image, a fixed reference vanishing point is set, a region of interest set based on the reference vanishing point is projected and transformed, a vehicle movement path is estimated from a lane included in the projected transformed image, and the estimated vehicle movement A panorama image generator for deriving a rigid body transformation parameter representing a geometric relationship between successive frames using a path, and then generating a panoramic image by matching a series of consecutive frames using the derived rigid body transformation parameter; And a panoramic image output unit for outputting the generated panoramic image.