The present invention relates to a vehicle pose estimation device and a vehicle pose estimation method. The vehicle pose estimation device comprises: an image capturing device installed in a vehicle driving on a road and capturing lanes parallel to each other on the road to generate an image; an image analysis unit extracting the lanes from the image to calculate each gradient of the lane and a coordinate of a vanishing point where extension lines of each lane are intersect with each other; and a vehicle pose estimation unit calculating a direction vector of the lanes on the road based on the coordinate of the vanishing point and calculating the normal vector of the road based on an interval of the coordinate of the vanishing point and the direction vector and the lanes on the road to estimate a pose of the vehicle.
APPARATUS AND METHOD FOR ESTIMATING POSE OF VEHICLE
2015-09-14
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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