Object detecting system for detecting object by using hierarchical pyramid and object detecting method thereof

An method of detecting an object using an object detecting system, the method comprising:

• receiving a first input image captured at a first time and a second input image captured at a second time;
• generating a first pyramid image associated with the first time from the first input image and a second pyramid image associated with the second time from the second input image;
• generating a plurality of pieces of object data representing the object detected in the first input image and the second input image based on the first pyramid image and the second pyramid image;
• and
• storing the plurality of pieces of the object data in a buffer,
• wherein the object comprises a first object and a second object which is located relatively closer to the object detecting system than the first object,
• wherein the generating the first pyramid image and the second pyramid image comprises:
• generating the first pyramid image having a first resolution by adding first time information corresponding to the first time to the first input image;
• generating a third pyramid image having a second resolution which is lower than the first resolution, by down-sampling the first pyramid image;
• and
• generating the second pyramid image having the first resolution by adding second time information corresponding to the second time to the second input image, and
• wherein the generating the plurality of pieces of the object data comprises:
• generating first object data of the first object among the plurality of pieces of the object data by extracting the first object from the first pyramid image by using a deep learning model trained based on a neural network;
• generating second object data of the first object among the plurality of pieces of the object data by extracting the first object from the second pyramid image by using the deep learning model;
• and
• generating third object data of the second object among the plurality of pieces of the object data by extracting the second object from the third pyramid image by using the deep learning model.

A driving assistance system for driving a vehicle by detecting an object, the driving assistance system comprising:

• a pyramid image generator configured to receive a first input image captured at a first time and a second input image captured at a second time and generate a first pyramid image from the first input image and a second pyramid image from the second input image;
• an object extractor configured to detect the object in the first pyramid image and the second pyramid image and generate a plurality of pieces of object data representing the object, by using deep learning that is based on a neural network;
• a buffer storing the plurality of pieces of the object data representing the object detected in the first input image and the second input image;
• and
• an object tracker configured to track the object based on the plurality of pieces of the object data stored in the buffer,
• wherein the object comprises a first object and a second object which is located relatively closer to the driving assistance system than the first object,
• wherein the pyramid image generator further configured to:
• generate the first pyramid image having a first resolution by adding first time information corresponding to the first time to the first input image;
• generate a third pyramid image having a second resolution which is lower than the first resolution, by down-sampling the first pyramid image;
• and
• generate the second pyramid image having the first resolution by adding second time information corresponding to the second time to the second input image, and
• wherein the object extractor further configured to:
• generate first object data of the first object among the plurality of pieces of the object data by extracting the first object from the first pyramid image by using the deep learning model;
• generate second object data of the first object among the plurality of pieces of the object data by extracting the first object from the second pyramid image by using the deep learning model;
• and
• generate third object data of the second object among the plurality of pieces of the object data by extracting the second object from the third pyramid image by using the deep learning model.