Vehicle and control method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorsEunseok Jeon, Minjun Chun, Jaehong Lee, Jinho Park
Life of this patent
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Abstract
A control method of a vehicle includes: detecting straight lines in an image input from a camera; generating a vanishing point candidate based on an intersection of the straight lines; accumulating the vanishing point candidate; generating a vanishing point accumulation map based on the accumulated vanishing point candidates; estimating a pose of the camera based on vanishing point cluster information of the vanishing point accumulation map; and adjusting a distance to an object in the image based on the pose of the camera.
Claims19
A control method of a vehicle, the control method comprising:
- detecting straight lines in an image input from a camera;
- generating a vanishing point candidate based on an intersection of the straight lines;
- accumulating the vanishing point candidate;
- generating a vanishing point accumulation map based on the accumulated vanishing point candidates;
- estimating a pose of the camera based on vanishing point cluster information of the vanishing point accumulation map;
- and
- adjusting a distance to an object in the image based on the pose of the camera,
- wherein estimating the pose of the camera comprises:
- determining the vanishing point cluster information of the vanishing point accumulation map, and
- wherein determining the vanishing point cluster information comprises:
- performing a principal component analysis on a vanishing point cluster of the vanishing point accumulation map;
- and
- determining the vanishing point cluster information according to a result of the principal component analysis.
A vehicle, comprising:
- a camera configured to photograph an area around the vehicle;
- and
- a controller configured to be electrically connected to the camera,
- wherein the controller is configured to:
- detect straight lines in an image input from the camera,
- generate a vanishing point candidate based on an intersection of the straight lines,
- accumulate the vanishing point candidate,
- generate a vanishing point accumulation map in which the vanishing point candidates are accumulated,
- estimate a pose of the camera based on vanishing point cluster information of the vanishing point accumulation map, and
- correct a distance to an object in the image based on the pose of the camera,
- wherein the controller is further configured to:
- perform a principal component analysis on a vanishing point cluster of the vanishing point accumulation map;
- and
- determine the vanishing point cluster information according to a result of the principal component analysis.
Dependencies are inferred from the claim text.