Apparatus for estimating distance to object using stereo camera with heterogeneous angle of view and method thereof

The present invention relates to an object distance estimation apparatus and a method using a stereo camera of a heterogeneous field of view. According to the invention, the object distance estimation method comprises the steps of receiving a captured image of a larger second angle of view than the first photographed image and the first field of view of the angle of view from the stereo camera of the two kinds of viewing angle in the front or rear of the vehicle, wherein step of stereo matching the first and the photographed image of the field of view photographed image of the second field of view generates a difference map for the recorded images of the first field of view, wherein the using the time difference map for the recorded images of the first field angle 2 the step of generating a difference map of the V- same image size as the image of the shooting angle of view, using a V- parallax map of the same image size as the photographed image of the second field angle extracting time difference information of the road surface, the road surface step using the time difference information for estimating a difference map for the image area of ​​the chamber below the line of the second field angle, and the estimated loss differential map the following line and the first Using the time difference map for the photographed image of the field of view includes the step of calculating the distance to the object within the image. Thus, according to the present invention, it is each other using a photographed image of a stereo camera consisting of a lens having a different angle of view range, so the amount of information increases, as well as improve the estimation accuracy of the object distance at a distance contained within the image. Accordingly, a large amount of information including more conventional, and at the same time, the accuracy can be provided a high-object detection information.