Egomotion estimation system and method thereof

Ego motion estimation system according to the present invention, the stereo camera; Map generating unit for receiving the stereo images received from the stereo camera, and generates the depth map and the map by using this time difference; A feature point extraction section which extracts a feature point of the moving object by using the parallax map; A motion vector detector for detecting the motion vector of the feature point from the feature point on the extracted; Rejection error of removing the error of the detected motion vector of claim; And using the motion vector error is removed ego motion determination section that calculates the ego motion and determining; and a.