OBSTACLE DETECTING AND SEPARATING METHOD OF A STEREO VISION BASED IMAGE AND AN APPARATUS PERFORMING THE SAME

摘要

PURPOSE: An obstacle detecting and separating method of a stereo vision based image and an apparatus performing the same are provided to easily process about a part having a low parallax value through histogram smoothing, thereby improving long distance detection performance.;CONSTITUTION: An obstacle detecting method of a stereo vision based image includes following steps. A parallax map is generated by receiving stereo based left and right images(110). A histogram smoothing process is performed in the parallax map(120). The parallax map in which the histogram smoothing is performed is transformed into a V-parallax map, and road information is extracted from the V-parallax map(130). An obstacle area is detected by performing column detection using extracted road information and the parallax map in which the histogram smoothing is performed. An obstacle detecting apparatus includes a stereo camera unit, an image processing unit, and a monitoring unit. The stereo camera unit consisting of left and right cameras obtains an image from outside. The image processing unit detects an obstacle by performing the obstacle detecting method about the image obtained by the stereo camera unit. The monitoring unit displays a detection result of the image processing unit. The obstacle detecting apparatus is installed in a vehicle, and the car transmits the detection result of the image processing unit to a control device. The stereo camera unit obtains the image by using an active shutter method or by separating left and right images using a polarizing filter.;COPYRIGHT KIPO 2013;[Reference numerals] (100) Stereo camera unit; (200) Image processing unit; (300) Monitoring unit; (AA) External image