Patent ID: 8428343
Filing Date: 2013-04-23
Classification: G06T,H04N

Abstract:
1. A volume cell (VOXEL) map generation apparatus comprising: an inertia measurement unit to calculate inertia information by calculating inertia of a volume cell (VOXEL) map generator; a Time of Flight (TOF) camera to capture an image of an object, thereby generating a depth image of the object and a black-and-white image of the object; an estimation unit to calculate position and posture information of the VOXEL map generator by executing an Iterative Closest Point (ICP) algorithm on the basis of the depth image of the object, and to recursively estimate a position and posture of the VOXEL map generator on the basis of not only VOXEL map generator inertia information calculated by the inertia measurement unit but also VOXEL map generator position and posture information calculated by the ICP algorithm; and a grid map construction unit to configure a grid map on the basis of the recursively estimated VOXEL map generator position and posture and information about the object measured by the TOF camera.