Method and device for calibrating pitch of camera on vehicle and method and device for continual learning of vanishing point estimation model to be used for calibrating the pitch

Abstract

A method for calibrating a pitch of a camera on a vehicle is provided. The method includes steps of: a calibration device (a) inputting driving images from the camera into an object detection network to detect objects and generate object detection information and into a lane detection network to detect lanes and generate lane detection information; (b) profiling the object and the lane detection information to generate object profiling information and lane profiling information, inputting the object profiling information into an object-based pitch estimation module to select a first target object and a second target object to generate a first pitch and a second pitch, and (iii) inputting vanishing point detection information and the lane profiling information into a lane-based pitch estimation module to generate a third pitch and a fourth pitch; and (c) inputting the first to the fourth pitches into a pitch-deciding module to generate a decided pitch.