The present invention relates to an around view monitoring system, comprising: an image photographing unit for photographing a front side, a rear side, a left side and a right side of a vehicle by using a camera to acquire an image; a feature point extraction unit for extracting ground feature points from the image acquired by the image photographing unit; a camera position estimation unit for estimating a rotation angle for each camera based on the ground by using the ground feature points, and generating an estimated rotation matrix including the estimated rotation angle; and an around view generation unit for determining whether a road gradient exists based on the estimated rotation matrix for the camera, and based on a determination result, generating an around view synthesis look up table (LUT) based on a currently generated estimated rotation matrix, or generating an estimated rotation matrix from which the road gradient is removed to generate an around view synthesis LUT based on the generated estimated rotation matrix from which the road gradient is removed.

    본 발명은 어라운드 뷰 모니터링 시스템에 관한 것으로, 상기 시스템은 카메라를 이용하여 차량의 전방, 후방, 좌측방 및 우측방을 촬영하여 영상을 획득하는 영상 촬영부; 상기 영상 촬영부에 의해 획득된 영상에서 지면 특징점을 추출하는 특징점 추출부; 상기 지면 특징점을 이용하여 지면을 기준으로 한 카메라별 회전 각도를 추정하고, 추정된 회전 각도를 포함하는 추정 회전 행렬을 생성하는 카메라 자세 추정부; 및 상기 카메라에 대한 추정 회전 행렬을 바탕으로 도로 구배 존재 여부를 판단하고, 판단 결과에 따라, 현재 생성된 추정 회전 행렬을 바탕으로 어라운드 뷰 합성 LUT(Look Up Table)를 생성하거나, 도로구배 제거된 추정 회전 행렬을 생성 및 생성된 도로구배 제거된 추정 회전 행렬을 바탕으로 어라운드 뷰 합성 LUT를 생성하는 어라운드 뷰 생성부를 포함한다.


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    Title :

    AROUND VIEW MONITORING SYSTEM AND OPERATING METHOD THEREOF


    Additional title:

    어라운드 뷰 모니터링 시스템 및 이의 동작 방법


    Contributors:

    Publication date :

    2018-02-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G06V / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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