A method and apparatus for calibrating a camera pitch of a vehicle, and a method for continuous learning of a vanishing point estimation model for the same

摘要

A method of calibrating a camera pitch of a vehicle, wherein a calibration device (a) inputs driving images from a camera to an object detection network to detect objects to generate object detection information, and input to a lane detection network to determine lanes detecting and generating lane detection information, (b) profiling object detection information to generate object profiling information, profiling lane detection information to generate lane profiling information, and applying object profiling information to object-based pitch Input to the estimation module, select a first target object and a second target object, generate a first pitch and a second pitch, (iii) input vanishing point detection information and lane profiling information into the lane-based pitch estimation module A third pitch and a fourth pitch are generated, and (c) the first to fourth pitches are input to a pitch determination module to generate a determined pitch.