Road edge detection method and road edge detection device

摘要

A method and an apparatus for detecting a road edge are disclosed. The method includes obtaining a disparity map with a road region and a corresponding V-disparity map; extracting, from the V-disparity map, a road line Lv; obtaining, based on the road line Lv extracted from the V-disparity map, a sub-U-disparity map with the road; and self-adaptively extracting, from the sub-U-disparity map, the road edge. According to the method and the apparatus of an embodiment of the present invention, it is possible to detect the road edge accurately, even when there is not accurate road surface information.