Patent ID: 9582867
Date: 2017-02-28
CPC Classifications: G06T,H04N

Claim:
1. An apparatus for assisting driving, comprising: a stereo camera module mounted in a vehicle, and configured to obtain a first image through a first camera and a second image through a second camera; and a processor configured to stereo-match the first image and the second image to obtain a dense disparity map, estimate a cubic b-spline curved line from the dense disparity map by using a coarse-to-fine method, and perform a road profile for two-dimensionally converting a 3D road, on which the vehicle travels, by using the cubic b-spline curved line, wherein the processor includes: a stereo-matching unit configured to stereo-match the first image and the second image to obtain the dense disparity map; and a road surface estimating unit configured to estimate the cubic b-spline curved line from the dense disparity map by using the coarse-to-fine method, wherein the road surface estimating unit includes: