Parking area tracking apparatus and method thereof

A parking area tracking apparatus, comprising:

• an imaging unit including a plurality of cameras for recording images around a vehicle;
• and
• a control unit configured to convert the recorded images into a top view image of the vehicle, set a template by detecting a parking area in the top view image, detect a location of a pillar in the top view image, detect a region obstructed by the pillar from the parking area in which the template is set, and change the shape of the template according to the obstructed region
• wherein the detecting of the location of the pillar comprises:
• setting a pillar detection region in the top view image;
• creating a straight line for every angle with respect to a location of a camera in the pillar detection region;
• detecting a ratio of edge pixels included in the straight line;
• and
• detecting the location of the pillar using the ratio of the edge pixels.