KR20170124232A - Around view monitoring system and method for compensating camera tolerance there of - Google Patents

Abstract

An around view monitoring system capable of automatically correcting the tolerance of a camera according to the present invention includes an image capturing unit including front, rear, left and right cameras installed around a vehicle, a communication module for transmitting and receiving data to and from a sensor unit, a memory for storing a program for the automatic tolerance correction of the vehicle, and a processor for executing the program. The processor determines whether a tolerance correction condition is satisfied based on a result value sensed through the sensor unit included in the vehicle according to the execution of the program, extracts a common feature point between the respective images captured by the front, rear, left and right cameras if the tolerance correction condition is satisfied, converts each of the images into a top view image by adjusting the extracted feature point in each captured image, and generates an around view image based on the converted top view image. Accordingly, the present invention can minimize the distortion of the around view image.

Description

Technical Field [0001] The present invention relates to an AROUND VIEW MONITORING SYSTEM and a CAMERA TOLERANCE THERE OF,

The present invention relates to an ambient view monitoring system and its camera automatic tolerance correction method.

Around View Monitoring System (AVMS) is a system that receives images from four cameras (front, rear, left, right) installed on a vehicle and displays the surroundings of the vehicle in Bird's Eye View form.

In such an environment monitoring system using images captured by a plurality of cameras, it is essential to correct the tolerances in camera assembly. For this purpose, each manufacturer of the vehicle corrects the tolerance to satisfy the consistency of the surround view image with respect to the vehicle equipped with the surround view monitoring system, and then leaves the vehicle.

However, due to various environmental factors such as vehicle vibration, folding of the side mirrors, opening and closing of the vehicle door, etc., due to the continuous use of the vehicle after the vehicle is shipped, the corrected tolerance at the time of shipment is changed, A problem occurs in that the temperature is lowered.

Accordingly, the driver must use the distorted surround view image when driving or parking.

In order to solve this problem, it is necessary to correct the changed tolerance. However, there is a need to visit a service center or an office where the tolerance can be corrected for repairing the current tolerance.

Therefore, there is a need for an averaged view monitoring system capable of correcting the tolerance even if the tolerance is changed to provide a matched surrounding view image.

In this regard, Korean Patent Laid-Open Publication No. 10-2014-0070321 (entitled " vehicle surround view providing device and vehicle equipped with the same) is provided with first to fourth cameras mounted on a vehicle, Projecting an image of a part of the surround view image onto a second stereographic projection plane different from the first stereographic projection plane to project the entire area corrected image to the first stereographic projection plane, Discloses a technology capable of reducing the distortion of an approach-view image by including a processor to generate the image.

However, in the conventional art, there is a problem that the tolerance correction performance may be degraded in the presence of a peripheral obstacle, in entering a slope, and in a running motion, and thus the driver needs to be provided with a distorted surround view image.

The embodiment of the present invention determines whether or not the tolerance correction condition is satisfied based on the sensing value of the sensor unit installed in the vehicle, and when the tolerance correction condition is satisfied, And a camera automatic tolerance correction method therefor.

It should be understood, however, that the technical scope of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

As a technical means for achieving the above technical object, there is provided an audiovisual monitoring system capable of automatic confinement correction of a camera according to the first aspect of the present invention, which includes a front, rear, left and right camera A communication module for transmitting and receiving data to and from the image pickup unit and the sensor unit, a memory for storing a program for correcting the automatic tolerance of the camera, and a processor for executing the program. At this time, as the program is executed, the processor determines whether or not the tolerance correction condition is satisfied based on the sensed result value through the sensor unit included in the vehicle, and when the tolerance correction condition is satisfied, Extracting feature points common to each of the images captured by the back, left, and right cameras, converting the extracted images into top view images by adjusting the extracted feature points in the captured images, And generates an overview image based on the transformed top view image.

According to a second aspect of the present invention, there is provided a camera automatic tolerance correcting method in an surround view monitoring system, comprising: determining whether a tolerance correcting condition is satisfied based on a sensed result value through a sensor unit included in a vehicle; Extracting feature points that are common among respective images photographed by an image capturing unit including front, rear, left, and right cameras provided around the vehicle when the tolerance correcting condition is satisfied; Converting each of the extracted images into a top view image by adjusting the extracted feature points in each captured image, and generating an overview image based on the transformed top view image.

According to any one of the above-described objects of the present invention, even when the angle of the camera installed on the vehicle is changed according to environmental factors such as driving, the tolerance correction function is automatically provided to minimize the distortion of the surround view image.

Particularly, when the tolerance correction condition is satisfied by using the resultant value sensed by the sensor unit, the coherence of the surround view image can be further improved by generating the surround view image.

1 is a block diagram of an overview view monitoring system in accordance with an embodiment of the present invention.
FIG. 2 is an exemplary view showing minutiae extracted from an image photographed by a camera.
3 is a diagram for explaining a coordinate system of a camera for tolerance correction.
4 and 5 are views for explaining a process of generating a top view image by adjusting minutiae points.
FIG. 6 is a view for explaining a process of generating the surround view image.
FIGS. 7 and 8 are diagrams for explaining a process of detecting lanes and stop lines.
9 is a diagram for explaining a process of determining the coherence of the surround view image.
10 is a flowchart of a camera automatic tolerance correction method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted.

Whenever a component is referred to as "including" an element throughout the specification, it is to be understood that the element may include other elements, not the exclusion of any other element, unless the context clearly dictates otherwise.

1 is a block diagram of an overview view monitoring system 100 in accordance with an embodiment of the present invention.

An overview view monitoring system 100 according to an embodiment of the present invention includes a communication module 110, a memory 120, and a processor 130. [

The communication module 110 transmits and receives data to and from the image capturing unit 20 and the sensor unit 10 of the vehicle. The communication module 110 may include both a wired communication module and a wireless communication module. The wired communication module may be implemented by a power line communication device, a telephone line communication device, a cable home (MoCA), an Ethernet, an IEEE1294, an integrated wired home network, and an RS-485 control device. In addition, the wireless communication module can be implemented with a wireless LAN (WLAN), Bluetooth, HDR WPAN, UWB, ZigBee, Impulse Radio, 60 GHz WPAN, Binary-CDMA, wireless USB technology and wireless HDMI technology.

More preferably, the communication module 110 can transmit and receive data through CAN (Controller Area Network) communication.

The sensor unit 10 may include at least one of a distance sensor 11, a height sensor 13, a steering angle sensor 15, and a wheel encoder sensor 17 in one embodiment of the present invention. The processor 130 may determine whether the tolerance correction conditions are satisfied based on the sensed values of the respective sensors as described below.

In addition, the surrounding view monitoring system 100 according to an embodiment of the present invention can receive images taken by front, rear, left and right cameras 20-1 to 20-4 installed at the center of the vehicle . The front, rear, left and right cameras 20-1 to 20-4 of the vehicle are installed in the vehicle and photograph the front, rear, left, and right sides of the vehicle, respectively. The processor 130 matches the photographed images and finally generates an overview image. At this time, the tolerance is corrected to have high consistency in the process of being synthesized.

In the memory 120, a program for automatic tolerance correction of the image capturing unit 20 is stored. At this time, the memory 120 is collectively referred to as a non-volatile storage device and a volatile storage device which keep the stored information even when power is not supplied.

For example, the memory 120 may be a compact flash (CF) card, a secure digital (SD) card, a memory stick, a solid-state drive (SSD) A magnetic computer storage device such as a NAND flash memory, a hard disk drive (HDD) and the like, and an optical disc drive such as a CD-ROM, a DVD-ROM, etc. .

In addition, the program stored in the memory 120 may be implemented in hardware such as software or an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and may perform predetermined roles.

The processor 130 executes the program stored in the memory 120. [ As the program 130 is executed, the processor 130 first determines whether the tolerance correction condition is satisfied based on the sensed result through the sensor unit 10 included in the vehicle. Whether or not such a tolerance correction condition is satisfied can be judged based on at least one of the distance sensor 11, the height sensor 13, the steering angle sensor 15 and the wheel encoder sensor 17. [

Specifically, the processor 130 can determine whether or not the vehicle makes a straight movement based on the resultant value sensed by the steering angle sensor 15 as a tolerance correction condition. If it is determined that the vehicle is moving straight, the processor 130 may determine that the tolerance correction condition is satisfied.

In addition, the processor 130 can determine whether or not an obstacle exists within a predetermined range from the vehicle based on the resultant value sensed by the distance sensor 11, as a tolerance correction condition. If it is determined that no obstacle exists, the processor 130 may determine that the tolerance correction condition is satisfied.

Further, the processor 130 can determine whether or not the vehicle is located on the ramp based on the result value sensed by the height sensor 13, as the tolerance correction condition. If it is determined that the vehicle is located in the ramp, the processor 130 may determine that the tolerance correction condition is satisfied.

Further, the processor 130 can determine whether or not the vehicle speed is equal to or less than a predetermined speed based on the resultant value sensed by the wheel encoder sensor 17, as a tolerance correction condition. If it is determined that the vehicle speed is lower than the predetermined speed, that is, if it is determined that the vehicle is running at a low speed, the processor 130 may determine that the tolerance correction condition is satisfied.

As such, the surround view monitoring system 100 according to an embodiment of the present invention includes at least one of the distance sensor 11, the height sensor 13, the steering angle sensor 15, and the wheel encoder sensor 17 It is possible to determine whether or not the tolerance correction condition is satisfied based on the sensing value of the sensor unit 10. [

At this time, according to an embodiment of the present invention, it is possible to determine whether or not the tolerance correction conditions are satisfied using only a single sensing value by each sensor. In addition, whether or not the tolerance correction conditions are satisfied You can judge. For example, one embodiment of the present invention determines whether or not the tolerance correction conditions are satisfied based on the combination of the three sensed values of the distance sensor 11, the height sensor 13 and the steering angle sensor 15 among the four sensors Can be determined.

When such a tolerance correction condition is satisfied, the processor 130 extracts feature points common to the respective images photographed by the front, rear, left and right cameras 20-1 to 20-4 provided at the center of the vehicle . These feature points can be extracted as shown in the example shown in Fig.

FIG. 2 is an exemplary view showing the minutiae extracted from the image photographed by the image photographing unit 20. As shown in FIG.

The processor 130 can extract feature points common to the respective images photographed by the front, rear, left and right cameras 20-1 to 20-4. These feature points may be vertices or edges common to each image.

In order to extract such feature points, the processor 130 may extract an image feature point by using an optical flow or by calculating a homography representing a correspondence relationship between the feature points.

Referring again to FIG. 1, after extracting feature points from each image, the processor 130 adjusts (matches) extracted feature points from the captured images to correct the tolerances, . The related process will be described with reference to FIGS. 3 to 5. FIG.

3 is a diagram for explaining the coordinate system of the image capturing unit 20 for tolerance correction.

The focal point of the image pickup unit 20 on the basis of the front, rear, left and right cameras 20-1 to 20-4 installed in the vehicle is the origin (0, 0, 0) on the three-dimensional plane. The front direction of each image capturing unit 20 may be a z-axis, a vertical direction may be a y-axis, and a horizontal direction may be an x-axis. When the coordinate system of the image capturing unit 20 is set as described above, each object and minutiae points M of the photographed image can be represented by a coordinate system of (x, y, z).

Meanwhile, in order to convert into the coordinate system, the processor 130 can use internal parameters including the focal length and distortion coefficient of each image pickup unit 20, and other external parameters set. Such a coordinate system may be an actual coordinate system consisting of units such as centimeters. That is, since the image taken by the image capturing unit 20 is a pixel unit, the processor 130 can convert a pixel unit into a coordinate system for tolerance correction.

At this time, necessary data such as a conversion ratio for coordinate conversion may be stored in the memory 120 in advance in a look-up table (LUT). The look-up table is set in advance at the time of shipment of the vehicle, and can be updated by the corrected tolerance as an embodiment of the present invention is applied.

4 and 5 are views for explaining a process of generating a top view image by adjusting minutiae points.

When the feature points 401, 401 ', 403 and 403' are represented by the coordinate system of FIG. 3, the processor 130 adjusts the respective feature points 401, 401 ', 403 and 403' It can be converted into a view image. At this time, in order to convert to the top view image, the geometric condition must be satisfied as shown in FIG.

Referring to FIG. 4, the processor 130 may select a first feature point 401 and a second feature point 403, which are arbitrary feature points of the extracted feature points 401, 401 ', 403, 403'. Then, for the selected first and second feature points 401 and 403, a first distance d2 that is a distance between the first and second feature points 401 and 403 corresponding to the previous position of the vehicle, And a second distance d2 that is a distance between the first and second characteristic points 401 'and 403' corresponding to the current position, and also calculates the first and second characteristic points 401, 401 ', 403, 403', respectively.

When the first distance d2 and the second distance d1, the first movement distance d3 and the second movement distance d4 are calculated as described above, the processor 130 calculates the first distance d2 and the second distance d2, The top view image can be generated by adjusting each image so that the second distance d1 is the same and the first moving distance d3 and the second moving distance d4 are the same.

In addition, the processor 130 determines whether the first distance d2 and the second distance d1 corresponding to the current position are equal to each other, and the first moving distance d3 and the second moving distance d4 The top view image can be generated by adjusting each image so that the direction vectors are equal to each other.

Accordingly, the processor 130 determines whether or not at least one of the front, rear, left and right cameras 20-1 to 20-4 is photographed by a virtual camera assuming that the camera is yawing or pitching, A top view image can be generated by adjusting the corresponding image so that an image is generated.

As described above, one embodiment of the present invention requires the same distance and moving distance as well as the corresponding direction vector, thereby making it possible to generate a more accurate top view image as compared with the prior art.

The image corresponding to the case where the image capturing unit 20 is pitching and yawing can be adjusted using the Gauss-Newton method as shown in the following equations (1) and (2). The calculated first distance d2 and the calculated second distance d1 are equal to each other and the first and second moving distances d3 and d4 are equal to each other, desirable.

[Equation 1]

&Quot; (2) "

Here, M _{i means} the current coordinate of the feature point i, M _i, the previous coordinate of the feature point i, M _j, the current coordinate of the feature point j, M _{j, and} the previous coordinate point of the feature point j.

In addition, as shown in FIG. 5, the processor 130 can correct the tolerance by using the movement information of the vehicle and the movement relationship between the minutiae points 401, 401 ', 403 and 403'.

To this end, the processor 130 may first calculate an angle such that the extracted motion vector based on the first distance d2 and the second distance d1 is consistent with the predicted movement direction based on the vehicle motion information have. Then, based on the calculated angles, as shown in Fig. 4, the image is photographed by the virtual camera assuming that at least one of the front, rear, left and right cameras 20-1 to 20-4 is rolled. So that a top view image can be generated by adjusting the corresponding image.

4 and 5, the processor 130 adjusts each image to be a photographed image on the assumption that at least one of the operations of yawing, pitching, and rolling is performed, A view image can be generated.

At this time, a top view image from each image can be generated based on the following equations (3) and (4).

&Quot; (3) "

&Quot; (4) "

In Equation (3), K is a calibration matrix related to an intrinsic parameter of the camera, and may be stored in advance in the memory 120 according to each camera 20-1 to 20-4. Also, R denotes a rotation matrix for virtually rotating the cameras 20-1 to 20-4, which means Equation (4).

Referring again to FIG. 1, when a top view image having a corrected tolerance is generated, the processor 130 can generate an overview view image based on the top view image.

At this time, the processor 130 may detect the lane or stop line included in the top view image, and may correct each top view image so that the boundary of the lane or stop line included in each top view image is matched.

This process will be described with reference to FIGS. 6 to 9. FIG.

FIG. 6 is a view for explaining a process of generating the surround view image.

When the processor 130 corrects the tolerances of the images photographed by the front, rear, left and right cameras 20-1 to 20-4, the front top view image 610 shown in FIG. 6 (a) A rear view top view image 620, a left top view image 630, and a right top view image 640, as shown in FIG.

The processor 130 may combine the top view images 610 to 640 to generate the surrounding view image, and may correct the top view images 610 to 640 in order to enhance the matching between the respective images. In other words, the processor 130 detects lane and stop lines and corrects their boundaries to be matched as shown in Figs. 7 and 8, so that the corrected front, rear left and right top view images 615, 625, 635, And finally, the surround view image as shown in FIG. 6 (b) can be generated.

FIGS. 7 and 8 are diagrams for explaining a process of detecting lanes and stop lines.

First, referring to FIG. 7A, the processor 130 can detect the driving lane of the traveling vehicle based on the surround view image as shown in FIG. 6B. For this purpose, the processor 130 may extract the feature points 710 of the lane in the vertical direction from the surrounding view image. If there is a pedestrian crossing, the processor 130 selects a horizontal section 715 to be searched in the top view image corresponding to the forward image, and searches the selected horizontal section to determine whether the gradient is relatively high If a location is detected, it can be extracted as a feature point.

Next, referring to FIG. 7B, the processor 130 may perform a line fitting process based on the extracted feature points 710 to detect the lane candidate group. In the line alignment process, a line component is searched in a range of 360 degrees based on the feature points 710 extracted from the top view image, and a lane candidate group 720 is selected based on the center of the extracted line component.

7C, the processor 130 recognizes a line component passing through a plurality of candidate points located on the left and right sides of the lane candidate group 720 with respect to the vehicle as a driving lane 730 .

In addition, the processor 130 can detect the stop line based on the surround view image as shown in Fig.

Referring to FIG. 8A, the processor 130 selects a vertical section to be searched in the surrounding view image, searches the vertical view 815 in the vertical direction 815, ). ≪ / RTI >

Next, referring to FIG. 8B, the processor 130 searches for a 360-degree range based on the extracted feature point 810 to detect the stop line candidate group 820, extracts a line component, The stop line candidate group 820 can be selected based on the center of the component.

Next, referring to FIG. 8C, the processor 130 may recognize a line component passing through a plurality of candidate points in the stop line candidate group 820 as a stop line 830.

By recognizing the driving lane 730 or the stop line 830 as described above, the processor 130 can improve the coherence of the surround view image.

9 is a diagram for explaining a process of determining the coherence of the surround view image.

The surrounding view monitoring system 100 according to the embodiment of the present invention can determine the consistency of the surround view image according to the matching condition using the detected lane 730 and the stop line 830. [

First, referring to FIG. 9A, the processor 130 can determine the consistency of the surround view image by using a condition that the left lane 731 and the right lane 733 are straight lines with respect to the vehicle .

9B, the processor 130 groups the lane candidate group 720 detected in the front, rear, left, and right regions into the left lane 920 and the right lane 930, respectively, The 3 × 3 matrix is calculated for each of the front, rear, left, and right regions so that the candidate lane candidate lines are linearly aligned with each other to correct the image, thereby finally generating the matched surrounding view image.

1 may be implemented in hardware such as software or an FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit), and may perform predetermined roles can do.

However, 'components' are not meant to be limited to software or hardware, and each component may be configured to reside on an addressable storage medium and configured to play one or more processors.

Thus, by way of example, an element may comprise components such as software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, Routines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

The components and functions provided within those components may be combined into a smaller number of components or further separated into additional components.

Hereinafter, with reference to FIG. 10, a description will be made of a method of correcting the automatic camera image tolerance in the surrounding view monitoring system 100 according to an embodiment of the present invention.

FIG. 10 is a flowchart of a method of correcting an automatic tolerance of an image camera according to an embodiment of the present invention.

In the method of correcting an image camera automatic tolerance according to an embodiment of the present invention, a sensed result value is first received through a sensor unit 10 included in a vehicle (S110), and a tolerance correction condition is calculated based on the received result (S120). ≪ / RTI >

At this time, the step of determining whether or not the tolerance correction condition is satisfied may be determined using each of the four sensors or may be determined by mutual combination thereof.

First, it is determined whether or not the vehicle is moved straight on the basis of the resultant value sensed by the steering angle sensor 15. If it is determined that the vehicle is to be moved straight, it can be determined that the tolerance correction condition is satisfied.

Second, it is determined whether or not an obstacle exists within a predetermined range from the vehicle based on the resultant value sensed by the distance sensor 11. If it is determined that no obstacle is present, it is determined that the tolerance correction condition is satisfied It can be judged.

Thirdly, it is judged whether or not the vehicle is located on the ramp based on the resultant value sensed by the height sensor 13. If it is judged that the vehicle is located in the ramp, it can be judged that the tolerance correction condition is satisfied .

Finally, based on the resultant value sensed by the wheel encoder sensor 17, it is judged whether or not the speed of the vehicle is equal to or lower than a predetermined speed. If it is judged that the vehicle speed is equal to or lower than the predetermined speed, It can be judged.

When the above-mentioned tolerance correction conditions are satisfied, the surrounding view monitoring system 100 detects the characteristic points common to the respective images photographed by the front, rear, left and right cameras 20-1 to 20-4, (S130). Then, the feature points extracted from the captured images are adjusted to convert each image into a top view image (S140).

The surround view image is generated based on the transformed top view image (S150).

On the other hand, in the above description, steps S110 to S150 may be further divided into additional steps or combined into fewer steps, according to an embodiment of the present invention. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed. In addition, the contents already described in Figs. 1 to 9 can be applied to the camera automatic tolerance correction method of Fig. 10 even if other contents are omitted.

According to any one of the embodiments of the present invention, even when the angle of the camera installed on the vehicle is changed according to environmental factors such as driving, the tolerance correction function is automatically provided to minimize the distortion of the surround view image.

In particular, when the tolerance correction condition is satisfied by using the resultant value sensed by the sensor unit 10, the coherence of the surround view image can be further improved.

Accordingly, even if the driver does not visit a service center or a business establishment, it is possible to automatically correct the tolerance during driving or stopping, thereby maximizing the convenience of the driver.

Meanwhile, the camera automatic tolerance correcting method according to an embodiment of the present invention may be realized in the form of a recording medium including a computer program stored in a medium executed by the computer or a command executable by the computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable medium may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes any information delivery media, including computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism.

While the methods and systems of the present invention have been described in connection with specific embodiments, some or all of those elements or operations may be implemented using a computer system having a general purpose hardware architecture.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: Sensor part 11: Distance sensor
13: Height sensor 15: Steering angle sensor
17: Wheel encoder sensor 20:
100: a surrounding view monitoring system 110: a communication module
120: memory 130: processor

Claims (17)

1. An auroral view monitoring system capable of correcting automatic tolerance of a camera,
An image capturing unit including front, rear, left and right cameras installed around the vehicle, a communication module for transmitting and receiving data to and from the sensor unit,
A memory for storing a program for correcting the automatic tolerance of the camera,
And a processor for executing the program,
Wherein the processor determines whether or not the tolerance correction condition is satisfied based on the sensed result value through the sensor unit included in the vehicle as the program is executed and if the tolerance correction condition is satisfied, Extracting feature points common to each of the images photographed by the left and right cameras, converting the respective images into top view images by adjusting the extracted feature points in the captured images, And generating an overview image based on the top view image. The method according to claim 1,
Wherein the sensor unit comprises at least one of a distance sensor, a height sensor, a steering angle sensor and a wheel encoder sensor. 3. The method of claim 2,
Wherein the processor determines whether the vehicle travels straight on the basis of a result sensed by the steering angle sensor and, if it is determined that the vehicle is to travel straight, determining that the tolerance correction condition is satisfied View monitoring system. 3. The method of claim 2,
Wherein the processor determines whether or not an obstacle exists within a predetermined range from the vehicle based on a result sensed by the distance sensor, and when it is determined that the obstacle does not exist, Which is determined based on the position of the object. 3. The method of claim 2,
The processor determines whether or not the vehicle is located on a ramp based on a result sensed by the height sensor, and determines that the vehicle satisfies the tolerance correction condition when it is determined that the vehicle is located in a ramp Inground view monitoring system. 3. The method of claim 2,
Wherein the processor determines whether the speed of the vehicle is equal to or less than a predetermined speed based on a result sensed by the wheel encoder sensor and determines that the tolerance correction condition is satisfied Around view monitoring system. The method according to claim 1,
The processor selects a first feature point and a second feature point, which are arbitrary feature points of the extracted feature points,
For each of the selected first and second feature points, a first distance between the first and second feature points corresponding to the previous position of the vehicle and a second distance between the first and second feature points corresponding to the current position, respectively Calculating first and second moving distances of the first and second characteristic points based on a previous position and a current position of the vehicle, respectively,
Wherein the top view image is generated by adjusting each of the images so that the calculated first distance and the second distance are the same and the first and second moving distances are the same. 8. The method of claim 7,
Wherein the processor adjusts each of the images so that the direction vectors corresponding to the calculated first and second distances are equal to each other and the direction vectors corresponding to the calculated first and second movement distances are equal to each other, A top view image is generated. 9. The method of claim 8,
Wherein the processor is configured to generate the top view image by adjusting one or more cameras of the front, rear, left, and right cameras to be photographed so as to correspond to one or more of the operations of yawing and pitching operations, Monitoring system. 10. The method according to any one of claims 7 to 9,
Wherein the processor calculates an angle at which the motion vector extracted based on the first and second distances coincides with the predicted movement direction based on the movement information of the vehicle, Wherein the top view image is generated by adjusting one or more cameras of the rear, left, and right cameras to be photographed so as to correspond to a case where a rolling operation is performed. The method according to claim 1,
The processor detects a lane or a stop line included in each of the transformed top view images and corrects the respective top view images so that boundaries of lane or stop lines included in the respective top view images are matched. View monitoring system. A camera automatic tolerance correction method in an ambient view monitoring system,
Determining whether a tolerance correction condition is satisfied based on a sensed result value through a sensor unit included in the vehicle;
Extracting feature points that are common among respective images photographed by an image capturing unit including front, rear, left, and right cameras provided around the vehicle when the tolerance correcting condition is satisfied;
Adjusting the extracted minutiae in each of the photographed images to convert the respective images into a top view image;
And generating an overview image based on the transformed top view image. 13. The method of claim 12,
Wherein the sensor unit comprises at least one of a distance sensor, a height sensor, a steering angle sensor and a wheel encoder sensor. 13. The method of claim 12,
Wherein the step of determining whether the tolerance correction condition is satisfied comprises:
Determining whether the vehicle is traveling straight on the basis of a resultant value sensed by the steering angle sensor
And determining that the tolerance correction condition is satisfied when the vehicle is determined to be moved in a straight line. 13. The method of claim 12,
Wherein the step of determining whether the tolerance correction condition is satisfied comprises:
Determining whether an obstacle exists within a predetermined range from the vehicle based on a result sensed by the distance sensor;
And determining that the tolerance correction condition is satisfied when it is determined that the obstacle does not exist. 13. The method of claim 12,
Wherein the step of determining whether the tolerance correction condition is satisfied comprises:
Determining whether the vehicle is located on a ramp based on a result sensed by the height sensor; and
And determining that the tolerance correction condition is satisfied when it is determined that the vehicle is located in the ramp. 13. The method of claim 12,
Wherein the step of determining whether the tolerance correction condition is satisfied comprises:
Determining whether the speed of the vehicle is below a predetermined speed based on a result sensed by the wheel encoder sensor;
And determining that the tolerance correction condition is satisfied when it is determined that the predetermined speed is equal to or less than the preset speed.

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