KR101527886B1 - Method for detecting puddle on the road based on stereo image - Google Patents
Method for detecting puddle on the road based on stereo image Download PDFInfo
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- KR101527886B1 KR101527886B1 KR1020140128666A KR20140128666A KR101527886B1 KR 101527886 B1 KR101527886 B1 KR 101527886B1 KR 1020140128666 A KR1020140128666 A KR 1020140128666A KR 20140128666 A KR20140128666 A KR 20140128666A KR 101527886 B1 KR101527886 B1 KR 101527886B1
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Abstract
The present invention relates to an apparatus and method for automatically grasping a state of a road.
The present invention relates to a stereoscopic camera that photographs a stereo road image using a stereo camera, generates a parallax map from the photographed stereo road image, obtains a distance map using the parallax map, An apparatus for automatically detecting a water sludge as a risk element on the road more cost effectively by detecting a water sludge portion on the road by using the estimated trend model and the calculated threshold value after calculating a threshold value, Provide the method.
Description
The present invention relates to an apparatus and method for automatically grasping a state of a road.
In the past, the driver manually controlled the direction and speed of the car, but in recent years, the development of automobile technology has accelerated the development of automobiles without the help of the driver or with minimal driver involvement. In addition, various technologies have been developed to provide safe driving performance by automatically controlling the vehicle in accordance with a given environment and situation without using a driver's control by using various sensing technologies.
Especially, for the safe operation and the automated operation of the automobile, it is necessary to grasp the state of the road on which the automobile travels. For example, if there is an obstacle on the road, or if there is a water puddle or a ice sheet on the road, the automobile needs to run safely in response to such an unexpected road situation.
Conventional sensing technologies for detecting the state of the road include sensing technology using a near-infrared camera and sensing technology using a radar.
First, the road condition detection technology using a near-infrared camera captures the road using a near infrared ray camera, identifies the temperature on the photographed road image, and effectively grasps the position of the ice sheet or accumulated snow on the road. However, the above-mentioned method of detecting the temperature by sensing the road condition does not detect the water puddle on the road well, and the price of the near infrared camera is high.
In addition, a conventional technology for detecting a road condition using a radar sensor discloses a method of detecting a state of a road by comparing a ratio of back scattering values by sensing a difference in permittivity according to a road state. However, There is a problem in that it must be used.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a stereoscopic image display apparatus which photographs a stereo road image using a stereo camera, generates a parallax map from the taken stereo road image, obtains a distance map using the parallax map, And the threshold value is calculated. Then, by detecting the part of the water puddle on the road using the estimated trend model and the calculated threshold value, the water puddle, which is a dangerous element on the road, can be automatically And a method thereof.
According to an aspect of the present invention, there is provided an apparatus for detecting a water puddle using a stereo image, comprising: a stereo road image pickup unit that receives stereo road images photographed using at least two cameras, A distance map obtaining unit for calculating distance information between a subject photographed by the camera and the camera for each pixel and obtaining a distance map in which the signal value in each pixel coordinate is the calculated distance information; And a water shedding detector that receives the distance map and detects a water soul located on the road in the stereo road image using the coordinates of each pixel of the inputted distance map and the distance information.
Here, the road puddle detecting device using the stereo image may include a first camera and a second camera that are spaced apart from each other by a predetermined distance, and photographs the road using the first camera and the second camera And a stereo camera unit for acquiring a first road image and a second road image for the road, respectively, wherein the stereo road image includes the first road image and the second road image .
Here, the distance map obtaining unit may include: a parallax map generating unit that receives the stereo road image from the stereo camera unit and generates a parallax map using the stereo road image; And a distance information calculation unit that receives the parallax map from the parallax map generation unit and calculates the distance information using the parallax value of each pixel of the parallax map.
Here, the parallax map generation unit may compare the first road image and the second road image of the stereo road image, and generate a parallax map corresponding to each pixel of the first road image and the second road image, And calculating the parallax representing a coordinate difference between corresponding pixels representing the same subject to generate the parallax map.
According to an aspect of the present invention, there is provided an apparatus for detecting a water puddle using a stereo image, the apparatus comprising: means for detecting the water puddle detected by the water puddle detecting unit based on any one of the stereo road images; And a water droplet image acquiring unit for acquiring a water droplet image in which coordinates corresponding to coordinates of the water droplet are displayed to have a constant image signal value.
Here, when the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map, for each pixel of the distance map, And determining a pixel of the distance map as the part of the water pool to detect the water pool located on the road.
Here, the water shedding detecting unit may set a trending model indicating the tendency of the distance information according to the coordinates of the pixels of the distance map, and may calculate the distance between the coordinates of sample pixels of the predetermined number of distance maps, Calculating a coefficient of the trend model, and detecting the water sump located on the road using the trend model calculated by the coefficient.
Here, the trend model may be set such that the coordinates of the pixels of the distance map and the distance information are used as input variables.
Here, the trend model may be set as shown in Equation (1).
(here
Here, the water shedding detection unit may include a trend model obtaining unit that sets the trend model, calculates coefficients of the trend model using the coordinates of the sample pixels of the distance map and the distance information, and obtains the trend model; A threshold value calculation unit for calculating a constant threshold value; And applying the pixels of the distance map to the trend model obtained by the trend model obtaining unit to calculate a result value, and when the calculated result value is larger than the threshold value, And a water pool determination unit for determining the water pool determination unit.
Here, the trend model acquisition unit may include a sample pixel acquiring unit for arbitrarily selecting a predetermined number of pixels among the pixels of the distance map and selecting the selected pixels as the sample pixels; A tendency model coefficient estimating unit that estimates a coefficient of the tendency model using the sample pixels selected by the sample pixel acquiring unit; And a tendency model evaluation unit for evaluating the coefficients of the tendency model estimated by the tendency model coefficient estimating unit and determining coefficients of the tendency model.
According to another aspect of the present invention, there is provided an apparatus for detecting a water puddle using a stereo image, the apparatus comprising: means for detecting distance information on each pixel of a stereo road image photographed using at least two cameras; And a water shedding detector for detecting water shedding on the road in the stereo road image using the coordinates of each pixel of the inputted distance map and the distance information.
Here, when the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map, for each pixel of the distance map, And determining a pixel of the distance map as the part of the water pool to detect the water pool located on the road.
Here, the water shedding detecting unit may set a trending model indicating the tendency of the distance information according to the coordinates of the pixels of the distance map, and may calculate the distance between the coordinates of sample pixels of the predetermined number of distance maps, Calculating a coefficient of the trend model, and detecting the water sump located on the road using the trend model calculated by the coefficient.
Here, the trend model may be set such that the coordinates of the pixels of the distance map and the distance information are used as input variables.
Here, the water shedding detection unit may include a trend model obtaining unit that sets the trend model, calculates coefficients of the trend model using the coordinates of the sample pixels of the distance map and the distance information, and obtains the trend model; A threshold value calculation unit for calculating a constant threshold value; And applying the pixels of the distance map to the trend model obtained by the trend model obtaining unit to calculate a result value, and when the calculated result value is larger than the threshold value, And a water pool determination unit for determining the water pool determination unit.
According to one aspect of the present invention, there is provided a method of detecting a road puddle using a stereo image, the method comprising the steps of: capturing the road using at least two cameras and generating a stereo image An image acquisition step; A distance map obtaining step of calculating distance information between a subject photographed by the camera and the camera for each pixel of the stereo road image and obtaining a distance map in which a signal value in each pixel coordinate is the calculated distance information, ; And a water puddle detecting step of receiving the distance map and detecting a water sump located on the road in the stereo road image using the pixel coordinates and the distance information of the inputted distance map.
Here, if the distance information value of the pixel of the distance map is greater than or equal to the distance information value of the surrounding pixels of the pixel of the distance map, for each pixel of the distance map, And determining a pixel of the distance map as the part of the water pool to detect the water pool located on the road.
The water puddle detecting step may set a trend model indicating the tendency of the distance information according to the coordinates of the pixels of the distance map and may calculate the water puddle using coordinates of sample pixels of the predetermined number of the distance maps, Wherein the trend model detects the water puddle located on the road by using the trend model calculated by the coefficient, and the trend model calculates coordinates of the pixel of the distance map and the distance information as input variables Is set to the following expression.
Here, the water shedding detection step may include a step of setting the trend model, calculating a coefficient of the trend model using the coordinates of the sample pixels of the distance map and the distance information, and obtaining the trend model ; A threshold value calculation step of calculating a constant threshold value; And applying each pixel of the distance map to the trend model obtained in the trend model obtaining step to calculate a result value, and when the calculated result value is larger than the threshold value, And a water-droplet determination step of determining the water-droplet as a part.
According to the present invention, there is provided an apparatus and method for detecting a water puddle using a stereo image, comprising: capturing a stereo road image using a stereo camera; acquiring a parallax map and a distance map from the photographed stereo road image; It is possible to cost-effectively and more robustly detect a water sump as a risk element on the road.
1 is a block diagram of an apparatus for detecting a water puddle using a stereo image according to an embodiment of the present invention.
2 is a reference diagram for explaining the operation principle of a road puddle detecting apparatus using a stereo image according to the present invention.
3 is a reference view showing a stereo puddle image and a distance map obtained by a road puddle detecting apparatus using a stereo image according to the present invention.
FIG. 4 is a reference diagram for explaining a trend model of a road puddle detecting apparatus using a stereo image according to the present invention.
5 is a detailed block diagram of a water puddle detecting unit of a road puddle detecting apparatus using a stereo image according to the present invention.
6 is a detailed block diagram of a trend model acquisition unit of a road puddle detection apparatus using a stereo image according to the present invention.
FIG. 7 is a reference view showing a water sump image detected by a road water sump detection apparatus using a stereo image according to the present invention.
FIG. 8 is another reference view showing a water sump image detected by a road water sump detection apparatus using a stereo image according to the present invention.
FIG. 9 is a flowchart of a method of detecting a water puddle using a stereo image according to another embodiment of the present invention.
10 is a detailed flowchart of a water puddle detection step in a road puddle detection method using a stereo image according to the present invention.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.
1 is a block diagram of an apparatus for detecting a water puddle using a stereo image according to an embodiment of the present invention.
The apparatus for detecting a water puddle using a stereo image includes a
The
Here, the
The distance
Here, the distance map means a depth map in the stereo image field. That is, the distance information is a value indicating the distance between the subject and the camera, and is calculated for each pixel of the stereo road image. The distance map represents the value of the distance information in two dimensions. That is, the signal value of each pixel of the distance map is the value of the distance information in each pixel of the stereo road image.
The water
The water-droplet
Here, the water shed
Hereinafter, the distance
The distance
The parallax map generating unit 210 receives the stereo road image from the
Here, the parallax map generation unit 210 compares the first road image and the second road image of the stereo road image, and calculates the same subject for each pixel of the first road image and the second road image And a parallax representing a coordinate difference between corresponding pixels representing the same subject can be calculated. The parallax map generating unit 210 may generate the parallax map in which the calculated parallax is the signal value of each pixel.
The distance information calculator 220 receives the parallax map from the parallax map generator 210 and calculates the distance information using the parallax values of the pixels of the parallax map.
In a parallax map obtained from a stereo image captured by a stereo camera, the distance between the camera and the subject is closer to the camera, and the distance from the camera to the subject is smaller when the parallax value is smaller. The distance information calculating unit 220 preferably calculates the distance information from the parallax using the characteristics of the stereo camera.
Hereinafter, the water shedding
When the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map, for each pixel of the distance map, It is possible to determine the pixels of the distance map as the part of the water shed and detect the water shed located on the road.
Hereinafter, the principle of operation of the
2 is a reference diagram for explaining the operation principle of a road puddle detecting apparatus using a stereo image according to the present invention.
Referring to FIG. 2, the water sump on the road reflects light incident on the water sump. Therefore, rather than representing the shape of the road on which the actual water sump is located, the shape of the remote object corresponding to the light incident on the water sump . Therefore, the distance information value of the part where the water puddle part is taken from the stereo image is larger than the road part around the water puddle. That is, referring to FIG. 2, since the water shed (a100) reflects the shape of the remote building a200, when the distance map is calculated for the stereo image including the water shed (a100) The distance d2 corresponding to the distance information becomes larger than the value of d1 or d3 corresponding to the distance information of the peripheral portion of the water sump a100.
FIG. 3 is a reference view showing a stereoscopic water puddle image and a distance map obtained by the road puddle detecting apparatus using the stereo image according to the present invention.
Referring to FIG. 3, as described above with reference to FIG. 2, a portion where a water sump is formed in (a) of FIG. 3 corresponds to a distance information value As shown in Fig.
Therefore, the water
The operation of the water
That is, the water shedding
4 is a reference diagram for explaining the trend model.
Referring to FIG. 4, as described above with reference to FIG. 3, the portion corresponding to the water shed in the distance map has a larger value of the distance information when compared with the portion not surrounding the water shed. In the stereo image obtained when the road is photographed from the viewpoint of the stereo camera attached to the object running on the road, the upper part of the image represents a distant image and the lower part of the image represents a near image as shown in FIG. 4 (a) . Therefore, the upper part of the image has a larger distance information value and the lower part of the image has a smaller distance information value. The tendency of the distance information on the above distance map is shown in Fig. 4 (b) when the left upper end point of the distance map as shown in Fig. 4 (a) is taken as the origin. In the graph of FIG. 4 (b), the x coordinate represents the Y coordinate of the distance map, the y coordinate represents the distance information, and the curved portion b100 of the graph represents each pixel of the distance map of FIG. Is displayed on the graph in accordance with the Y coordinate value of the distance map and corresponding distance information, and the straight line portion b200 in the graph is a straight line indicating the tendency of the curve portion. Referring to FIG. 4B, it can be confirmed that the distance information shows a constant tendency according to the coordinates of the pixels of the distance map in the distance map, and it is confirmed that the above-mentioned tendency is in contradiction in the water pool portion .
The trend model is for modeling the above-mentioned tendency of the distance map.
The water
Here, the trend model may be set by using coordinates of pixels of the distance map and the distance information as input variables.
Preferably, the trend model can be set as shown in Equation (1).
(here
Here, the water shedding
Then, the water shedding
The operation of the
5 is a detailed block diagram of the water shedding
The water
The trend
Here, the trend
6 is a detailed block diagram of the trend
The trend
Here, the tendency
Here, the number of times that the tendency
(Where N is the number of times that the tendency
The sample
The trend
Here, the tendency
Here, the tendency
(here
The tendency
Here, the trend
Here, the operation of the tendency
(Where PF Is an index indicating the performance of the estimated tendency model coefficient,
Or the trend
The threshold value calculating unit 320 may calculate a threshold value of a predetermined size. The threshold value calculating unit 320 may set the threshold value to an arbitrary value as required. Or threshold value calculation unit 320 applies the threshold value to all the pixels of the distance map to the trend model obtained by the trend
Here, the operation of the threshold value calculation unit 320 may be expressed as Equation (5).
(Where T is the threshold,
The water sill determination unit 330 applies each pixel of the distance map to the trend model obtained by the trend
Here, the water shedding determination unit 330 may determine the water shedding portion as shown in Equation (6).
(Where S is a vector representing the coordinates of the pixel of the distance map and the distance information together,
The water shedding
FIG. 7 and FIG. 8 are further reference views showing a water sump image detected by a road water sump detection apparatus using a stereo image according to the present invention.
7 (a) and 8 (a) respectively show one of the stereo road images, and FIGS. 7 (b) and 8 (b) It is a water puddle image in which a water puddle portion is detected using a road water puddle detecting device and the detected water puddle portion is expressed by an image. As described above, it can be confirmed that the device according to the present invention is robustly detecting the water sump portion.
The apparatus for detecting a water puddle using a stereo image according to another embodiment of the present invention may include a
The water
Here, if the distance information value of the pixel of the distance map is greater than or equal to the distance information value of the surrounding pixels of the pixel of the distance map, for each pixel of the distance map, , A pixel of the distance map is determined to be the part of the water puddle, and the water puddle located on the road can be detected.
Here, the water
Here, it is preferable that the trend model is set by an expression using the coordinates of the pixels of the distance map and the distance information as input variables.
Here, the water shedding
The trend
The threshold value calculation unit 320 can calculate a certain threshold value.
The water sill determination unit 330 applies each pixel of the distance map to the trend model obtained by the trend
FIG. 9 is a flowchart of a method of detecting a water puddle using a stereo image according to another embodiment of the present invention.
The method of detecting a road puddle using a stereo image according to another embodiment of the present invention may include a stereo image acquisition step (S100), a distance map acquisition step (S200), and a water shedding detection step (S300). The road puddle detection method using the stereo image can operate in the same manner as the method of operating the road puddle detection apparatus using the stereo image described above in detail. Therefore, the overlapping parts are omitted and briefly explained below.
In the stereo image acquisition step S100, a road is photographed using at least two cameras, and a stereo road image for the road is obtained.
The distance map obtaining step S200 calculates the distance information between the camera and the subject photographed by the camera for each pixel of the stereo road image, and calculates a distance Obtain a map.
The water puddle detection step S300 receives the distance map and detects the water sump located on the road in the stereo road image using the coordinates of the pixel of the inputted distance map and the distance information.
Here, the water droplet detection step (S300) may be such that, for each pixel of the distance map, the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map A pixel of the distance map may be determined as the part of the water puddle, and the water puddle located on the road may be detected.
Here, the water shedding detection step S300 may set a trending model indicating the tendency of the distance information according to the coordinates of the pixels of the distance map, and may set coordinates of sample pixels of a predetermined number of randomly selected distance maps, And the water puddle located on the road can be detected using the trend model in which the coefficient is calculated.
Here, it is preferable that the trend model is set by an expression using coordinates of pixels of the distance map and the distance information as input variables.
10 is a detailed flowchart of the water
The waterdrop detection step S300 may include a trend model acquisition step S310, a threshold calculation step 320, and a waterdrop determination step 330. [
The trend model acquisition step S310 may set the trend model, calculate the coefficients of the tendency model using coordinates of the sample pixels of the distance map and the distance information, and obtain the tendency model.
The threshold calculation step S320 can calculate a certain threshold value.
The water pool determination step S330 may include applying each pixel of the distance map to the trend model obtained in the trend model acquisition step S310 to calculate a result value, and when the calculated result value is larger than the threshold value, The pixel of the distance map may be determined as the water sump portion.
It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them.
In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.
Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.
It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
Claims (20)
A stereo road image obtained by photographing the road using at least two or more cameras, calculating distance information between the camera and a subject photographed by the camera for each pixel of the stereo road image, A distance map acquiring unit for acquiring a distance map in which the signal value of the distance information is the calculated distance information; And
Setting a trend model indicating the tendency of the distance information according to the coordinates of pixels of the distance map using coordinates of pixels of the inputted distance map and the distance information, And a water sump detecting unit for detecting a water sump located on the road in the stereo road image using the stereo image.
And a first camera and a second camera located at a predetermined distance from each other, the first camera capturing the road using the first camera and the second camera, And a stereo camera unit,
Wherein the stereo road image includes the first road image and the second road image.
A parallax map generation unit that receives the stereo road image from the stereo camera unit and generates a parallax map using the stereo road image; And
And a distance information calculation unit that receives the parallax map from the parallax map generation unit and calculates the distance information using the parallax value of each pixel of the parallax map, .
The parallax map generation unit compares the first road image and the second road image of the stereo road image to generate a corresponding pixel representing the same object for the pixels of the first road image and the second road image And calculates the parallax representing a coordinate difference between corresponding pixels representing the same subject to generate the parallax map.
A controller for calculating the coordinates of the water shed detected by the water shedding detecting unit based on any one of the stereo road images and for displaying the pixels corresponding to the coordinates of the water shed to have a constant image signal value, And a water droplet image acquiring unit for acquiring the water droplet image acquired by the image acquiring unit.
When the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map by a predetermined amount or more for each pixel of the distance map, And the water puddle located on the road is detected by determining the pixel of the water puddle as the water sump portion.
Wherein the water shedding detection unit calculates the coefficients of the trending model using the coordinates of the sample pixels of the predetermined number of the distance maps and the distance information which are arbitrarily selected and calculates the coefficients of the trending model using the calculated trending models, Wherein the water puddle detecting unit detects the water puddle.
Wherein the trend model is set such that the coordinates of the pixels of the distance map and the distance information are used as input variables.
Wherein the trend model is set as shown in Equation (1).
Equation 1.
(here
A tendency model acquiring unit that sets the tendency model, calculates coefficients of the tendency model using the coordinates of the sample pixels of the distance map and the distance information, and obtains the tendency model;
A threshold value calculation unit for calculating a constant threshold value; And
Wherein each pixel of the distance map is applied to the trend model obtained by the trend model obtaining unit to calculate a result value, and when the calculated result value is larger than the threshold value, And a water puddle determination unit for determining the water puddle based on the determination result.
A sample pixel acquiring unit for arbitrarily selecting a predetermined number of pixels among the pixels of the distance map and selecting the pixel as the sample pixel;
A tendency model coefficient estimating unit that estimates a coefficient of the tendency model using the sample pixels selected by the sample pixel acquiring unit; And
And a trend model evaluation unit for evaluating the coefficients of the tendency model estimated by the tendency model coefficient estimating unit and determining the coefficients of the tendency model.
A distance map indicating distance information of each pixel of the stereo road image photographed by using at least two cameras on the road, receiving coordinates of pixels of the inputted distance map and the distance information, And a puddle detecting unit for setting a trending model indicating the tendency of the distance information according to the coordinates of the pixels of the map and detecting the waterdrops located on the road in the stereo road image using the trending model A road puddle detection device using a stereo image.
When the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map by a predetermined amount or more for each pixel of the distance map, And the water puddle located on the road is detected by determining the pixel of the water puddle as the water sump portion.
Wherein the water shedding detection unit calculates the coefficients of the trending model using the coordinates of the sample pixels of the predetermined number of the distance maps and the distance information which are arbitrarily selected and calculates the coefficients of the trending model using the calculated trending models, Wherein the water puddle detecting unit detects the water puddle.
Wherein the trend model is set such that the coordinates of the pixels of the distance map and the distance information are used as input variables.
A tendency model acquiring unit that sets the tendency model, calculates coefficients of the tendency model using the coordinates of the sample pixels of the distance map and the distance information, and obtains the tendency model;
A threshold value calculation unit for calculating a constant threshold value; And
Wherein each pixel of the distance map is applied to the trend model obtained by the trend model obtaining unit to calculate a result value, and when the calculated result value is larger than the threshold value, And a water puddle determination unit for determining the water puddle based on the determination result.
A stereo image acquiring step of photographing the road using at least two cameras and acquiring a stereo road image for the road;
A distance map obtaining step of calculating distance information between a subject photographed by the camera and the camera for each pixel of the stereo road image and obtaining a distance map in which a signal value in each pixel coordinate is the calculated distance information, ; And
Setting a trend model indicating the tendency of the distance information according to the coordinates of pixels of the distance map using coordinates of pixels of the inputted distance map and the distance information, And a water puddle detecting step of detecting a water puddle located on the road in the stereo road image using the stereo puddle detection method
When the distance information value of the pixel of the distance map is larger than the distance information value of the surrounding pixels of the pixel of the distance map by at least a certain amount for each pixel of the distance map, Determining a pixel of the map as the water sump portion, and detecting a water sump located on the road; and detecting the water sump by using the stereo image.
Wherein the water shedding detecting step calculates the coefficients of the trending model using the coordinates of the sample pixels of the predetermined number of the distance maps and the distance information which are arbitrarily selected and calculates the coefficients of the trending model using the calculated trending models A water sump is detected,
Wherein the trend model is set such that the coordinates of the pixels of the distance map and the distance information are used as input variables.
A tendency model acquisition step of setting the tendency model, calculating coefficients of the tendency model using the coordinates of the sample pixels of the distance map and the distance information, and obtaining the tendency model;
A threshold value calculation step of calculating a constant threshold value; And
Wherein each pixel of the distance map is applied to the trend model obtained in the trend model obtaining step to calculate a result value, and when the calculated result value is larger than the threshold value, And determining a water puddle based on the determination of the water puddle.
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