디지털융복합연구 (Journal of Digital Convergence)

  • 제14권11호
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  • Pages.319-324
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  • 2016
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  • 2713-6434(pISSN)
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  • 2713-6442(eISSN)
한국디지털정책학회 (The Society of Digital Policy and Management)
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RGB-D 카메라를 이용한 실시간 가상 현실 평면 추정

A Real-time Plane Estimation in Virtual Reality Using a RGB-D Camera in Indoors

  • Yi, Chuho (ADAS Business Department, LG Electronics) ;
  • Cho, Jungwon (Department of Computer Education, Jeju National University)
  • 투고 : 2016.09.30
  • 심사 : 2016.11.20
  • 발행 : 2016.11.28
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⟨ 이전 논문 다음 논문 ⟩

초록

실내에서 카메라를 이용한 로봇 응용이나 가상현실(Virtual Reality) 응용의 경우 평면을 찾고 추정하는 기술은 매우 중요한 기술이다. RGB-D 카메라의 경우 실내의 평면에서 질감 정보가 없는 평면에서도 3차원 관측 데이터를 얻을 수 있지만, 이미지 영역에서 점군 데이터(Point-cloud Data)를 처리하기 위해서는 많은 연산량이 필요하다. 더군다나 현재 관측되고 있는 평면의 개수가 몇 개인지 미리 알 수 없으며, 평면으로 검출(Plane Detection) 하더라도 강인하게 3차원에서 평면을 추정(Plane Estimation)하려면 추가적인 연산이 필요하다. 본 논문에서는 연속 데이터를 이용해 실시간으로 평면의 개수를 선택하며 평면을 추정하는 방법을 제시하고자 한다. 실험 결과를 통해 제안하는 방법이 전체 데이터를 처리하는 것에 비해 약 22배의 속도 개선을 가져 올 수 있음을 보였다.

In the case of robot and Argument Reality applications using a camera in environments, a technology to estimate planes is a very important technology. A RGB-D camera can get a three-dimensional measurement data even in a flat which has no information of the texture of the plane;, however, there is an enormous amount of computation in order to process the point-cloud data of the image. Furthermore, it could not know the number of planes that are currently observed as an advance, also, there is an additional operation required to estimate a three dimensional plane. In this paper, we proposed the real-time method that decides the number of planes automatically and estimates the three dimensional plane by using the continuous data of an RGB-D camera. As experimental results, the proposed method showed an improvement of approximately 22 times faster speed compared to processing the entire data.

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