Method and Apparatus for Estimating Frontal Obstacle Detection Distance

摘要

A method of estimating a distance for detecting a front obstacle according to an embodiment of the present invention includes detecting an obstacle in a front image of a vehicle; Extracting coordinates of the lower end of the detected obstacle detection box; Calculating a projection line in real world coordinates based on the extracted lower end coordinates; Searching for a point or a line segment through which the projection line passes on the precision map; And calculating a distance from a location of the vehicle to a point or line segment passing on the precision map.