Autonomous valet parking system and method using fisheye lens camera

The present invention relates to an autonomous valet parking system using a fish-eye lens camera and a method thereof. The autonomous valet parking method using the fish-eye lens camera of the present invention comprises: a step of setting a region of interest by a scale estimation unit and extracting map points within the region of the interest; a step of deriving a plane equation from the map points extracted by the scale estimation unit, and calculating a distance between current coordinates of the camera and the plane; and a step in which the scale estimation unit estimates a scale by calculating a scale factor. Implemented are the autonomous valet parking system using the fish-eye lens camera, capable of returning driving without loop closing, and the method thereof. 본 발명은 어안렌즈 카메라를 이용한 자율 발렛 주차 시스템 및 방법에 관한 것이다. 본 발명은 스케일추정부가 관심영역을 설정하고, 관심영역안의 맵포인트들을 추출하는 단계와, 스케일추정부가 추출한 맵포인트들로 평면의 방정식을 도출하고, 카메라 현재 좌표와 평면간 거리를 계산하는 단계와, 스케일추정부가 스케일팩터를 계산하여 스케일을 추정하는 단계를 포함한다.