Patent Document ID: 9635340
Application ID: 13954688
Patent Status: 1

Claim One:
1. A stereo image processing apparatus, comprising: an image acquirer acquiring images captured by a stereo camera including cameras having recognition ranges of their dynamic ranges differently set; a mapper preprocessing the images to determine mapping areas of the images based on features extracted from the images and mapping the images with reference to the determined mapping areas of the images; a tracker tracking linear components from the images mapped by the mapper to determine reference line segments; and a stereo image processor creating a stereo image for each of the images based on the reference line segments determined on the mapping areas, wherein the mapper performs linear conversion on a particular area on a dynamic range graph for each of the images to perform stereo matching for each of the images and uses a common linear section in dynamic range graphs of the images to determine the mapping areas, wherein the tracker calculates an average gradient of line segments detected from the images to determine a gradient of the reference line segments, and wherein the stereo image processor calibrates differences in gradients of linear line segments of the images with respect to the gradient of the reference line segment determined by the tracker to generate the stereo image.