US 11,721,033 B2
Object detection apparatus and method for vehicle
Heung Rae Cho, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Mar. 25, 2022, as Appl. No. 17/704,036.
Application 17/704,036 is a continuation of application No. 16/801,558, filed on Feb. 26, 2020, granted, now 11,314,972.
Claims priority of application No. 10-2019-0022268 (KR), filed on Feb. 26, 2019.
Prior Publication US 2022/0284710 A1, Sep. 8, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/55 (2017.01); G06T 11/20 (2006.01); G06T 7/00 (2017.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01); H04N 23/54 (2023.01); H04N 23/56 (2023.01); H04N 23/74 (2023.01); H04N 23/90 (2023.01); G06V 10/25 (2022.01); G06V 10/145 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/55 (2017.01) [G06T 7/73 (2017.01); G06T 7/97 (2017.01); G06T 11/20 (2013.01); G06V 10/145 (2022.01); G06V 10/25 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); H04N 23/54 (2023.01); H04N 23/56 (2023.01); H04N 23/74 (2023.01); H04N 23/90 (2023.01); G06T 2207/30252 (2013.01); G06T 2210/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An object detection apparatus comprising:
a first camera unit comprising one or more cameras, the first camera unit being configured to capture an image outside a vehicle;
a second camera unit comprising one or more cameras, the second camera unit being configured to capture an image outside the vehicle, wherein the first camera unit and the second camera unit have a different shooting angle; and
a control unit configured to:
determine a first displacement information of a feature point positioned in a common area from the image acquired via the first camera unit;
determine a second displacement information of the feature point in the image acquired via the second camera unit; and
determine distance information to an object recognized in the image captured via the second camera unit based on the first and second displacement information of the feature point.