Hyundai Motor Company

Kia Motors Corporation

Korea National University of Transportation Industry-Academic Cooperation Foundation

Jeyeon Kim

Sung Won Yoon

Ho Gi Jung

Jae Kyu Suhr

Hoon Jo

Disclosed is a method of detecting obstacle around a vehicle. The method of detecting an obstacle around a vehicle, includes: acquiring an image of the obstacle around the vehicle using a monocular camera; creating, by a controller, a distance based cost map, a color based cost map and an edge based cost map from the image; and integrating, by the controller, the distance based cost map, the color based cost map, and the edge based cost map to create a final cost map, and estimating, by the controller, a height of the obstacle from the final cost map.

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Seoul, South Korea

Jeyeon Kim