Patent ID: 11915449
Assignee: KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. A method of estimating a user pose for a three-dimensional space, wherein the method is a method of estimating a user pose comprising position and orientation information of a user fora three-dimensional space, and the method comprises:
a step of receiving user information comprising an image acquired in the three-dimensional space representing a real space;
a step of confirming a three-dimensional virtual space model corresponding to the real space constructed based on spatial information comprising depth information and image information for the three-dimensional space;
a step of generating corresponding information corresponding to the user information in the three-dimensional virtual space model;
a step of calculating similarity between the corresponding information and the user information; and
a step of estimating the user pose based on the similarity,
wherein the real space is a space, in which a discontinuous spatial map is generated when a spatial map is constructed using point cloud information,
wherein the real space comprises at least one of an indoor space, an outdoor space, and a space, in which the indoor space and outdoor space are linked, and
wherein the step of estimating the user pose comprises,
identifying a plurality of candidate poses and corresponding information for an entire area;
recalculating the similarity around a candidate pose of the plurality of candidate poses using the corresponding information;
repeating the recalculation for all of the plurality of candidate poses; and
estimating the user pose as one pose around the candidate pose with the highest similarity during the recalculation.