RGB-D 카메라 포즈 추정의 정확도 향상을 위한 깊이 맵 필터링 및 다중-레벨 예측자-수정자 방법 (Depth Map Filtering and Two-level Predictor-Corrector Method for Precision Enhancement of RGB-D Camera Pose Estimation)

판매 대리인 : 기율특허

전화번호 : 02-782-1004

메일주소 : kiyul@kiyul.co.kr

영문 원어  : The present invention relates to a depth map correction method which comprises the steps of: calculating a geometric transformation function between a current frame and predetermined neighboring frames before a current frame; projecting the neighboring frames onto the current frame by using the calculated geometric transformation function; and correcting a depth map of the current frame by calculating the average of a depthv value in a pixel of the current frame and a pixel of the neighboring frames corresponding to the pixel of the current frame. Therefore, an effect similar to maintaining a three-dimensional model can be generated by calculating a three-dimensional relation for serveral depth maps to use the three-dimensional relation for correcting the depth map, and a cumulative error which is recognized as a big problem in all camera trajectory esetimation method can be reduced by reducing the cumulative speed of the error by setting a reference frame.