Patent Document ID: 9117122
Application ID: 14043016
Patent Status: 1

Claim One:
1. An apparatus for tracing a parking-lot, the apparatus comprising: a controller includes a memory and a processor, the memory configured to store program instructions and the processor configured to execute the program instructions, the program instructions when executed configured to: recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle; extract a template according to a type of a parking-lot line of the recognized parking-lot; generate a template transformed based on a position information of the parking-lot; calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame; determine a position of a parking-lot according to the calculated similarity; determine a position and an orientation where a similarity with the template that corresponds to the parking-lot line recognized on the current image frame is the highest based on the calculated similarity; correct the template based on information of the parking-lot line extracted from the determined position; and correct the template by determining a thickness of a parking-lot line and a width of a parking-lot extracted from the determined position as a parameter of final template.