A driver assistance apparatus includes a plurality of cameras configured to photograph surroundings of a vehicle and a controller electrically connected to the plurality of cameras, wherein the controller acquires images photographed by the plurality of cameras, generates one bird's-eye view image by matching the acquired images, detects an object from the bird's-eye view image, extracts coordinates of the object, acquires a distance to the object based on the coordinates of the object, estimates the coordinates of the object and the distance to the object in a next frame of the bird's-eye view image by applying a Kalman filter to the coordinates of the object and the distance to the object in the current frame, and tracks or stops tracking the object based on a degree of association between the coordinates of the object and the distance to the object in the current frame and the estimated coordinates of the object and the distance to the object in the next frame.

    운전자 보조 장치는 차량의 주위를 촬영하는 복수의 카메라 및 복수의 카메라와 전기적으로 연결된 제어부를 포함하고, 제어부는 복수의 카메라에 의해 촬영된 이미지들을 획득하고, 획득된 이미지들을 정합하여 하나의 버드아이 뷰 이미지를 생성하고, 버드아이 뷰 이미지에서 객체를 검출하고, 객체의 좌표를 추출하고, 객체의 좌표를 기초로 객체와의 거리를 획득하고, 버드아이 뷰 이미지의 현재 프레임에서 객체의 좌표 및 객체와의 거리에 칼만 필터를 적용하여 다음 프레임에서 객체의 좌표 및 객체와의 거리를 추정하고, 현재 프레임에서 객체의 좌표 및 객체와의 거리와, 다음 프레임에서 추정된 객체의 좌표 및 객체와의 거리 간의 연관도를 근거로 객체를 추적하거나 객체 추적을 중지한다.


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    Title :

    DRIVER ASSISTANCE APPARATUS AND DRIVER ASSISTANCE METHOD


    Additional title:

    운전자 보조 장치 및 운전자 보조 방법


    Contributors:

    Publication date :

    2023-12-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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



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