Apparatus and method for estimating camera motion using depth information, and augmented reality system
First Claim
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1. An apparatus that estimates camera motion, the apparatus comprising:
- an intersection point extractor configured to extract an intersection point of three planes from plane information, based on at least one of planes, intersection lines, and a plane equation, the plane information being acquired from a point sample of a depth camera providing a depth image;
a feature point detector configured to calculate a feature point for each plane included in the plane information, using the extracted intersection point;
a motion extractor configured to extract a motion of the depth camera providing the depth image, using the calculated feature point; and
an intersection line extractor configured to extract an edge by applying a differential operator to the depth image,wherein the motion extractor is configured to extract the motion of the depth camera providing the depth image, using the extracted edge, andthe intersection point extractor is further configured togenerate a subset including three elements among elements included in a plane set extracted as the plane information,extract three vectors respectively expressing three plane equations within the subset, andextract the intersection point using the extracted three vectors.
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Abstract
Provided is a camera motion estimation method and apparatus that may estimate a motion of a depth camera in real time. The camera motion estimation apparatus may extract an intersection point from plane information of a depth image, calculate a feature point associated with each of planes included in the plane information using the extracted intersection point, and extract a motion of a depth camera providing the depth image using the feature point. Accordingly, in an environment where an illumination environment dynamically varies, or regardless of a texture state within a space, the camera motion estimation apparatus may estimate a camera motion.
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Citations
24 Claims
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1. An apparatus that estimates camera motion, the apparatus comprising:
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an intersection point extractor configured to extract an intersection point of three planes from plane information, based on at least one of planes, intersection lines, and a plane equation, the plane information being acquired from a point sample of a depth camera providing a depth image; a feature point detector configured to calculate a feature point for each plane included in the plane information, using the extracted intersection point; a motion extractor configured to extract a motion of the depth camera providing the depth image, using the calculated feature point; and an intersection line extractor configured to extract an edge by applying a differential operator to the depth image, wherein the motion extractor is configured to extract the motion of the depth camera providing the depth image, using the extracted edge, and the intersection point extractor is further configured to generate a subset including three elements among elements included in a plane set extracted as the plane information, extract three vectors respectively expressing three plane equations within the subset, and extract the intersection point using the extracted three vectors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 24)
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8. An apparatus that estimates camera motion, the apparatus comprising:
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an intersection point extractor configured to extract a first intersection point of three planes from first plane information, based on at least one of planes, intersection lines, and a plane equation, the first plane information being acquired from a first point sample of a first depth camera providing a first frame, and extract a second intersection point of the three planes from second plane information, based on at least one of the planes, the intersection lines, and the plane equation, the second plane information being acquired from a second point sample of a second depth camera providing a second frame; a feature point detector configured to calculate a first feature point for each plane included in the first plane information, using the first extracted intersection point,and calculate a second feature point for each plane included in the second plane information, using the second extracted intersection point; a motion extractor configured to extract a motion between the first depth camera and the second depth camera using the first feature point and the second feature point; and an intersection line extractor configured to extract an edge by applying a differential operator to the depth image, wherein the motion extractor is configured to extract the motion of the depth camera providing the depth image, using the extracted edge, and the intersection point extractor is further configured to generate a subset including three elements among elements included in a plane set extracted as the plane information, extract three vectors respectively expressing three plane equation within the subset, and extract the intersection point using the extracted three vectors. - View Dependent Claims (10, 11, 12)
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13. A method of estimating a camera motion, the method comprising:
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extracting an intersection point of three planes from plane information, based on at least one of planes, intersection lines, and a plane equation, the plane information being acquired from a point sample of a depth image provided by a depth camera; calculating a feature point for each plane included in the plane information, using the extracted intersection point; and extracting a motion of the depth camera providing the depth image, using the calculated feature point; and extracting an edge by applying a differential operator to the depth image, wherein the motion of the depth camera providing the depth image is extracted using the extracted edge, and the intersection point is extracted by generating a subset including three elements among elements including in a plane set extracted as the plane information, extracting three vectors respectively expressing three plane equations within the subset, and extracting the intersection point using the extracted three vectors. - View Dependent Claims (14, 15, 16, 17)
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18. An apparatus that estimates camera motion, the apparatus comprising:
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an intersection point extractor configured to extract an intersection point of three planes from plane information, based on at least one of planes, an intersection lines, and a plane equation, the plane information being acquired from a point sample of a depth camera providing a depth image; a feature point detector configured to calculate a feature point for each plane included in the plane information, using the extracted intersection point; an edge extractor configured to extract an edge by applying a first differential operator to a depth image in response to the plane information being absent from the depth image; a motion extractor configured to extract a motion of the depth camera providing the depth image, using the calculated feature point or the extracted edge; and an intersection line extractor configured to extract an edge by applying a differential operator to the depth image, wherein the motion extractor is configured to extract the motion of the depth camera providing the depth image, using the extracted edge, and the intersection point extractor is further configured to generate a subset including three elements among elements including in a plane set extracted as the plane information, extract three vectors respectively expressing three plane equations within the subset, and extract the intersection point using the extracted three vectors. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification