Method and apparatus for localization using AVPS marker

A vehicle localization apparatus comprising:

• at least one processor;
• a memory storing instructions for execution by the at least one processor, including instructions for:
• recognizing corner points of a coded marker from an image acquired from each of a plurality of cameras of a vehicle;
• calculating the coordinates of the corner points, and calculating a position, a width, and an angle of the coded marker by using the coordinates of the corner points;
• filtering the coded marker based on the position and the width of the coded marker;
• calculating a final weight of the coded marker;
• generating a position and an angle of a local coded marker by converting the angle and the position of the coded marker by using the coordinates of one of the plurality of cameras as vehicle coordinates;
• rotationally transforming the position of the local coded marker by using information on markers in a parking facility and the angle of the local coded marker;
• and
• measuring the position of the vehicle by using the position of the local coded marker and the final weight.

A non-transitory computer-readable medium having instructions for execution by at least one processor, including instructions for:

• recognizing corner points of a coded marker from an image acquired from each of a plurality of cameras of a vehicle;
• calculating the coordinates of the corner points, and calculating a position, a width, and an angle of the coded marker by using the coordinates of the corner points;
• filtering the coded marker based on the position and the width of the coded marker;
• calculating a final weight of the coded marker;
• generating a position and an angle of a local coded marker by converting the angle and the position of the coded marker by using the coordinates of one of the plurality of cameras as vehicle coordinates;
• rotationally transforming the position of the local coded marker by using information on markers in a parking facility and the angle of the local coded marker;
• and
• measuring the position of the vehicle by using the position of the local coded marker and the final weight.