Abstract: A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto main virtual geometries and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) generating a final main 3D cost volume therefrom through a cost volume computation network, and (c) generating sub inverse distance indices corresponding to inverse values of sub separation distances between a sub reference point and sub virtual geometries, and main inverse distance indices corresponding to inverse values of main separation distances between a main reference point and the main virtual geometries, by using a sub cost volume and the final main 3D cost volume, to thereby acquire the distance to the object.

Abstract: A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a rounded cuboid sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto N virtual rounded cuboids to generate rounded cuboid images and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) instructing a cost volume computation network to generate a final 3D cost volume from the initial 4D cost volume, and (c) generating inverse radius indices, corresponding to inverse radii representing inverse values of separation distances of the N virtual rounded cuboids, by referring to the final 3D cost volume and extracting the inverse radii by using the inverse radius indices, to acquire the separation distances and thus, the distance from the moving body to the object.

Abstract: A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto main virtual geometries and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) generating a final main 3D cost volume therefrom through a cost volume computation network, and (c) generating sub inverse distance indices corresponding to inverse values of sub separation distances between a sub reference point and sub virtual geometries, and main inverse distance indices corresponding to inverse values of main separation distances between a main reference point and the main virtual geometries, by using a sub cost volume and the final main 3D cost volume, to thereby acquire the distance to the object.

Abstract: A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a rounded cuboid sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto N virtual rounded cuboids to generate rounded cuboid images and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) instructing a cost volume computation network to generate a final 3D cost volume from the initial 4D cost volume, and (c) generating inverse radius indices, corresponding to inverse radii representing inverse values of separation distances of the N virtual rounded cuboids, by referring to the final 3D cost volume and extracting the inverse radii by using the inverse radius indices, to acquire the separation distances and thus, the distance from the moving body to the object.

Abstract: A vision apparatus for a moving body is provided. The vision apparatus for a moving body includes a plurality of cameras that are arranged to be distanced from one another, and are arranged in a diagonal direction to the moving direction of the moving body, and a processor that receives images photographed at each of the plurality of cameras, and stereo-matches the plurality of received images and generates distance information for all directions of the moving body.