{
  "$type": "site.standard.document",
  "description": "A control method of a vehicle includes: detecting straight lines in an image input from a camera; generating a vanishing point candidate based on an intersection of the straight lines; accumulating the vanishing point candidate; generating a vanishing point accumulation map based on the accumulated…",
  "path": "/patents/1407482",
  "publishedAt": "2026-06-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T7/70",
    "HYUNDAI MOTOR COMPANY"
  ],
  "textContent": "A control method of a vehicle includes: detecting straight lines in an image input from a camera; generating a vanishing point candidate based on an intersection of the straight lines; accumulating the vanishing point candidate; generating a vanishing point accumulation map based on the accumulated vanishing point candidates; estimating a pose of the camera based on vanishing point cluster information of the vanishing point accumulation map; and adjusting a distance to an object in the image based on the pose of the camera.",
  "title": "Vehicle and control method thereof"
}