Patent Document ID: 10025997
Application ID: 15130907
Patent Status: 1

Claim One:
1. A device for recognizing an obstacle and a parking slot to support an unmanned autonomous parking function, the device comprising: a processor, and a non-transitory medium having program instructions stored thereon, execution of which causes the processor to provide functions of a motion measurement unit configured to measure a vehicle motion using an in-vehicle sensor; an inverse perspective transform unit configured to perform inverse perspective transformation of an image obtained by a camera, and obtain an inverse perspective image; and an obstacle detection unit configured to detect the obstacle using the inverse perspective image, by obtaining an image before and after the vehicle motion and performing stereo rectification of the image using a SFM (structure from motion) technology, performing dense reconstruction from the rectified image, and projecting the image that is subjected to the dense reconstruction on a two-dimensional grid map, and segmenting the image according to a height and detecting the obstacle, such that the detected obstacle is used for unmanned autonomous parking, and motion stereo is directly performed using the inverse perspective image to provide depth information without any coordinate transformation.