DEPTH ESTIMATION DEVICE, SELF-DRIVING VEHICLE USING DEPTH ESTIMATION DEVICE, AND DEPTH ESTIMATION METHOD USED FOR SELF-DRIVING VEHICLE

摘要

To provide a depth estimation device and a depth estimation method with which it is possible to increase the accuracy of a high-resolution depth map, and a vehicle provided with the depth estimation method and depth estimation device.SOLUTION: Provided is a depth estimation device comprising first and second type sensors for generating first and second sensor data, respectively; and a processor joined to the first and second type sensors. The processor is constituted so as to use a two-step segmentation algorithm, thereby processing first sensor data and generating first and second segmentation results, to synchronize the parameter of the first segmentation result and the parameter of the second sensor result and generate synchronized second sensor data, to use a two-step depth estimation algorithm, thereby combining the first segmentation result, the synchronized second sensor data and the second segmentation result and generating first and second depth results.SELECTED DRAWING: Figure 5