Patent Publication Number: US-11049270-B2

Title: Method and apparatus for calculating depth map based on reliability

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit under 35 USC 119(a) of Korean Patent Application No. 10-2017-0117962 filed on Sep. 14, 2017, in the Korean Intellectual Property Office, the entire disclosure of which is incorporated herein by reference for all purposes. 
     BACKGROUND 
     1. Field 
     The following description relates to a method and an apparatus for calculating a depth map based on a reliability. 
     2. Description of Related Art 
     A two-dimensional (2D) input image is reconstructed as a three-dimensional (3D) image through camera pose estimation and depth estimation. The camera pose estimation and the depth estimation are performed using, for example, structure from motion (SfM) that estimates a structure of an object based on information generated from a motion by a movement of the object, simultaneous localization and mapping (SLAM) that constructs a map of a surrounding environment while simultaneously tracking a pose of a moving camera, or visual odometry (VO) that determines a pose and an orientation by analyzing camera images. 
     The aforementioned schemes may cause errors through repeated selections with respect to a target region, rather than a target object to be tracked in an image, and/or unnecessary loss of computational resources by tracking a moving object. 
     SUMMARY 
     This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. 
     In one general aspect, a method of calculating a depth map includes dividing an input image into segments; calculating reliabilities of the segments; selecting at least one of the segments based on the reliabilities; estimating pose information of a camera with respect to the input image based on the selected segment; and calculating a depth map of the input image based on the pose information of the camera. 
     The dividing may include either one or both of dividing the input image into semantic segments by classifying an object included in the input image as a semantic unit; and dividing the input image into depth segments based on a depth value of the input image. 
     The calculating of the reliabilities may include either one or both of calculating first reliabilities of the semantic segments; and calculating second reliabilities of the depth segments. 
     The calculating of the first reliabilities may include calculating the first reliabilities of the semantic segments based on whether the object included in the input image is a moving object. 
     The calculating of the first reliabilities may further include determining, in response to the object being a moving object, a first reliability of a semantic segment corresponding to the moving object to be a first value; and determining, in response to the object being a stationary object, a first reliability of a semantic segment corresponding to the stationary object to be a second value. 
     The calculating of the reliabilities may further include fusing the first reliabilities and the second reliabilities; and determining the fused reliabilities to be the reliabilities of both the semantic segments and the depth segments. 
     The method may further include selecting pixels from the selected segment based on the fused reliabilities, and the estimating may include estimating the pose information of the camera from the selected pixels. 
     The selecting of the pixels may include selecting the pixels from the selected segment in proportion to the fused reliabilities. 
     The input image may include frames, the frames may include at least one key frame, and the calculating of the reliabilities may include calculating the reliabilities of the segments for each of the at least one key frame. 
     The estimating may include estimating the pose information of the camera by applying a cost function to the selected segment. 
     In another general aspect, a non-transitory computer-readable medium store instructions that, when executed by a processor, cause the processor to perform the method described above. 
     In another general aspect, an apparatus for calculating a depth map includes a camera configured to acquire an input image; and a processor configured to divide the input image into segments, calculate reliabilities of the segments, select at least one of the segments based on the reliabilities, estimate pose information of the camera with respect to the input image based on the selected segment, and calculate a depth map of the input image based on the pose information of the camera. 
     The processor may be further configured to either one or both of divide the input image into semantic segments by classifying an object included in the input image as a semantic unit, and divide the input image into depth segments based on a depth value of the input image. 
     The processor may be further configured to either one or both of calculate first reliabilities of the semantic segments, and calculate second reliabilities of the depth segments. 
     The processor may be further configured to calculate the first reliabilities of the semantic segments based on whether the object included in the input image is a moving object. 
     The processor may be further configured to fuse the first reliabilities and the second reliabilities, and determine the fused reliabilities to be the reliabilities of both the semantic segments and the depth segments. 
     The processor may be further configured to select pixels from the selected segment based on the fused reliabilities, and estimate the pose information of the camera from the selected pixels. 
     The processor may be further configured to select the pixels from the selected segment in proportion to the fused reliabilities. 
     The input image may include frames, the frames may include at least one key frame, and the processor may be further configured to calculate the reliabilities of the segments for each of the at least one key frame. 
     The processor may be further configured to estimate the pose information of the camera by applying a cost function to the selected segment. 
     In another general aspect, a method of calculating a depth map includes selecting at least one portion of an input image captured by a camera, the selected portion having a characteristic enabling accurate pose estimation of the camera; estimating pose information of the camera based on the selected portion; and calculating a depth map of the input image based on the pose information of the camera. 
     The characteristic enabling accurate pose estimation of the camera may be a characteristic in which the selected portion does not have high-frequency noise and is not a part of a moving object. 
     The method may further include calculating a reliability of the selected portion; and selecting pixels from the selected portion in proportion to the reliability so that the greater the reliability, the greater the number of pixels that are selected from the selected portion; and the estimating may include estimating the pose information of the camera from the selected pixels. 
     The method may further include dividing the input image into portions based on classes of semantic units so that each of the portions is classified in one of the classes of semantic units; and the selecting may include selecting the at least one portion from the divided portions. 
     The classes may include classes of stationary objects and classes of moving objects; and the selecting may include selecting the at least one portion from the classes of stationary objects. 
     Other features and aspects will be apparent from the following detailed description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates an example of a method of calculating a depth map. 
         FIG. 2  illustrates an example of calculating reliabilities. 
         FIGS. 3A through 3C  illustrate an example of selecting at least one segment. 
         FIG. 4  illustrates an example of estimating pose information of a camera. 
         FIG. 5  illustrates an example of an operation of an apparatus for calculating a depth map. 
         FIG. 6  illustrates an example of an apparatus for calculating a depth map. 
     
    
    
     Throughout the drawings and the detailed description, the same reference numerals refer to the same elements. The drawings may not be to scale, and the relative size, proportions, and depiction of elements in the drawings may be exaggerated for clarity, illustration, and convenience. 
     DETAILED DESCRIPTION 
     The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of this application. For example, the sequences of operations described herein are merely examples, and are not limited to those set forth herein, but may be changed as will be apparent after an understanding of the disclosure of this application, with the exception of operations necessarily occurring in a certain order. Also, descriptions of features that are known in the art may be omitted for increased clarity and conciseness. 
     The features described herein may be embodied in different forms, and are not to be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways of implementing the methods, apparatuses, and/or systems described herein that will be apparent after an understanding of the disclosure of this application. 
     Although terms including “first” and “second” may be used to denote various components, the components are not limited by the terms. These terms have been used merely to distinguish one component from another component. For example, a “first” component alternatively may be referred to as a “second” component, and a “second” component alternatively may be referred to as a “first” component. 
     When a component is referred to as being “connected to” another component, the component may be directly connected or coupled to the other component, or intervening components may be present. When a component is referred to as “directly connected to” another component, no intervening components may be present. 
     The singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Terms such as “comprises,” “includes,” and “has” specify the presence of stated features, numbers, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, elements, components, or combinations thereof. 
     Unless otherwise defined herein, all terms used herein, including technical or scientific terms have the same meanings as those generally understood by one of ordinary skill in the art. Terms defined in dictionaries generally used are to be construed to have meanings matching with contextual meanings in the related art, and are not to be construed as an ideal or excessively formal meaning unless otherwise defined herein. 
     Examples set forth hereinafter may be used to estimate a depth value to reconstruct a three-dimensional (3D) scene of an input image in various augmented reality (AR) application fields. The examples may generate a dense depth map in a short time using images acquired by a single camera, without using an additional hardware element such as a depth camera. The examples may be applied to, for example, an AR head-up display (HUD), AR/virtual reality (VR) glasses, an autonomous vehicle, an intelligent vehicle, a smart phone, and a mobile device to implement AR applications in real time. The examples may be applied to an HUD to track a camera pose and reconstruct a depth for accurate matching between a driving image and a virtual object. The examples may be applied to matching of a smart phone or an AR/VR device in a mobile platform and 3D image reconstruction. The examples may be applied to a drone, a robot, or an autonomous vehicle to control an orientation using vision technology. The examples may be implemented in a form of chip to be mounted on an in-vehicle infotainment (IVI) system, an advanced driver-assistance system (ADAS), a smart phone, or an AR/VR device. 
       FIG. 1  illustrates an example of a method of calculating a depth map. Referring to  FIG. 1 , in operation  110 , an apparatus for calculating a depth map, hereinafter, the “calculation apparatus”, divides an input image into segments. The input image is an image input into the calculation apparatus, and is, for example, a live image or a moving picture. The input image may be a monoscopic image or a stereoscopic image. The input image includes a plurality of frames. The input image is captured through a camera included in the calculation apparatus, for example, a camera  610  of  FIG. 6 , or is acquired from an external device separate from the calculation apparatus. 
     The segments correspond to partial areas obtained by classifying or dividing the input image based on a predetermined criterion. 
     The calculation apparatus divides the input image into semantic segments by classifying an object included in the input image as a semantic unit belonging to one of 20 classes such as, for example, a road, a vehicle, a sidewalk, a person, an animal, the sky, and a building. However, 20 classes is merely an example, and there may be more or fewer than 20 classes. The classes of semantic units include, for example, stationary objects such as a road, the sky, and a building, and moving objects such as a moving person, a moving animal, and a moving vehicle. The calculation apparatus divides the input image into objects based on semantic units, discerns meanings of divided regions in pixel units, that is, determines which of the classes the divided regions belong to, and labels the regions with corresponding classes, thereby generating a segmentation image including semantic segments. 
     The calculation apparatus divides the input image into the semantic segments using, for example, a convolutional neural network (CNN), a deep neural network (DNN), or a support vector machine (SVM) trained to recognize the plurality of classes. The CNN may be a region-based CNN trained on various objects. However, these are merely examples, and the calculation apparatus may divide the input image into the semantic segments using various other machine learning schemes. 
     Further, the calculation apparatus divides the input image into depth segments based on depth values obtained from a depth map or a normal map inferred from the input image. The semantic segments and the depth segments may be the same as each other, or may be different from each other. 
     In operation  120 , the calculation apparatus calculates reliabilities of the segments. The reliabilities are reliabilities with respect to depth information, for example, depth values, and position information, for example, position coordinates, of the segments. The calculation apparatus calculates first reliabilities of the semantic segments. Further, the calculation apparatus calculates second reliabilities of the depth segments. 
     The calculation apparatus calculates the reliabilities of the segments for each key frame among the frames. The key frame is a frame having all information related to an image in progress in a timeline, and may be, for example, a most important frame such as a start frame or an end frame of a single motion. 
     The calculation apparatus sets a reliability of a segment including a moving object to be relatively low, thereby excluding the corresponding segment from a process of estimating pose information of the camera and a process of calculating a depth map. An example of calculating the reliabilities of the segments in the calculation apparatus will be described further with reference to  FIG. 2 . 
     In operation  130 , the calculation apparatus selects at least one of the segments based on the calculated reliabilities. The calculation apparatus selects a pixel to be a feature point used for the process of estimating the pose information of the camera and the process of calculating the depth map from the selected segment based on the reliabilities. The feature point is a point that is a feature in a frame, and includes information (u,v) corresponding to a two-dimensional (2D) position in the corresponding frame. Each frame includes a plurality of feature points. A general feature point detection algorithm known in the art is applicable to an operation of selecting feature points from a frame, and thus a detailed description will be omitted herein for conciseness. In one example, at least a portion of the feature points further include information corresponding to a depth value. For example, information corresponding to 3D positions of at least a portion of the feature points is obtained during the process of estimating the pose information of the camera used to capture the input image. A 3D position includes a depth value. 
     For example, a tracking loss may occur in a low gradient region such as a side of a building where a boundary between objects is unclear or has little change and is indistinct due to false negative selection that incorrectly determines and selects an error as a normality, or high frequency noise caused by a portion with a relatively high gradient resulting from a moving object or a piece of glass on a road in an image. 
     Segment(s) with reliabilities that may cause a tracking loss, that is, segment(s) with relatively low reliabilities, are excluded, and segment(s) with relatively high reliabilities are selected. The calculation apparatus estimates the pose information of the camera and calculates the depth map of the input image based on information extracted from the segment(s) with relatively high reliabilities, thereby improving a calculation speed and accuracy. An example of selecting at least one of the segments in the calculation apparatus will be described further with reference to  FIGS. 3A through 3C . 
     In operation  140 , the calculation apparatus estimates pose information of the camera with respect to the input image based on the selected segment. The pose information of the camera includes, for example, rotation information R and translation information T of the camera. The pose information of the camera is, for example, a 6-degree of freedom (DOF) camera pose including X (horizontal), Y (vertical), and Z (depth) corresponding to a pose of the camera, and pitch, yaw, and roll corresponding to an orientation of the camera. 
     The calculation apparatus estimates the pose information including a position of the camera used to capture the input image and a position (depth) of a captured object using homography that indicates a correlation between pixels in a series of successive images (frames). The calculation apparatus obtains the pose information of the camera using any of various simultaneous localization and mapping (SLAM) schemes such as, for example, feature-based SLAM, direct SLAM, extended Kalman filter (EKF) SLAM, fast SLAM, and large-scale direct monocular SLAM (LSD-SLAM). An example of estimating the pose information of the camera in the calculation apparatus will be described further with reference to  FIG. 4 . 
     In operation  150 , the calculation apparatus calculates a depth map of the input image based on the pose information of the camera. The calculation apparatus calculates the depth map based on the coordinates (u,v) of the position of the camera, the rotation information R of the camera, and the translation information T of the camera obtained during the process of estimating the pose information of the camera. 
       FIG. 2  illustrates an example of calculating reliabilities. Referring to  FIG. 2 , the calculation apparatus calculates first reliabilities of semantic segments based on whether an object included in an input image is a moving object. 
     In operation  210 , the calculation apparatus determines whether an object included in the input image is a moving object. In response to a determination that the object is not a moving object, that is, in response to a determination that the object is a stationary object, the calculation apparatus determines a first reliability of a semantic segment corresponding to the stationary object to be a second value in operation  220 . The second value is, for example, “1”. 
     In response to a determination that the object is a moving object, the calculation apparatus determines a first reliability of a semantic segment corresponding to the moving object to be a first value in operation  230 . The first value is, for example, “0”. The calculation apparatus sets a reliability of a segment causing a tracking loss like a moving object or a segment having noise to be relatively low, thereby excluding use of the corresponding segment from estimation of the pose information of the camera or calculation of the depth map. 
     In operation  240 , the calculation apparatus calculates second reliabilities R Si  of the depth segments. The calculation apparatus calculates the second reliabilities R Si  of the depth segments using Equation 1 below. 
     
       
         
           
             
               
                 
                   
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     In Equation 1, k i  denotes a current key frame i, and k j  denotes a subsequent key frame j which is nearest to the current key frame i.   denotes a depth map, and T k     j     k     i    denotes a transformation matrix from k i  to k j . Ω s     i    denotes an image region belonging to a segment i, and Ω k     i    denotes an image region in the current key frame i. 
     ν k     i   ( )=K −1 {dot over (u)}   k     i   ( ) is satisfied. K denotes an intrinsic matrix,   denotes pixel coordinates, and   denotes a homogeneous representation of  .    k     i   ( ) denotes a depth map of the pixel coordinates u in the current key frame i.  =πKT k     j     k     i   K −1       k     i   ( ) is satisfied. 
     In Equation 1,    k     j   ( ) denotes the subsequent key frame j being a target, and [T k     j     k     i   ν k     i   ( )] 3  denotes a warped host, that is, a warped current key frame i. 
     In operation  250 , the calculation apparatus fuses the first reliabilities and the second reliabilities. The calculation apparatus fuses the first reliabilities of the semantic segments and the second reliabilities of the depth segments using Equation 2 below.
 
   fused ( )=   s     i   ( )·   semantic ( )  (2)
 
     In Equation 2,    s     i   ( ) denotes a reliability of a depth segment at the pixel coordinates   calculated in Equation 1, and    semantic ( ) denoted a reliability of a semantic segment at the pixel coordinates  . 
     In operation  260 , the calculation apparatus determines the fused reliabilities to be the reliabilities of both the semantic segments and the depth segments. 
       FIGS. 3A through 3C  illustrate an example of selecting at least one segment. Referring to  FIG. 3A , an input image divided into semantic segments  310 ,  320 ,  330 , and  340  is illustrated. As described above, the calculation apparatus divides an input image into semantic segments by classifying an object included in the input image as a semantic unit. Hereinafter, for ease of description, an example of selecting at least one of the semantic segments will be described. However, the same process is also applicable to the depth segments. 
     For example, based on meanings of objects included in the input image, a road is classified as the segment  310 , buildings are classified as the segment  320 , the sky is classified as the segment  330 , and a car is classified as the segment  340 . For example, as shown in  FIG. 3B , among the segments  310 ,  320 ,  330 , and  340 , high frequency noise occurs in the segment  330  corresponding to the sky due to a sudden flash of sunlight reflected by a flying object, and the car classified as the segment  340  is a moving object. In this example, the calculation apparatus sets a reliability of the segment  330  with the high frequency noise to be relatively lower than reliabilities of the noise-free segments. The reliability of the segment  340  corresponding to the moving object is set to, for example, “0”. 
     The calculation apparatus excludes a segment that may cause tracking loss or a segment with a relatively low reliability, and selects segment(s) with relatively high reliabilities. For example, as shown in  FIG. 3C , the calculation apparatus selects the segment  310  corresponding to the road and the segment  320  corresponding to the buildings, and performs camera pose information estimation and depth map calculation based on information extracted from the selected segments  310  and  320 , for example, information related to pixel(s)  350 . 
       FIG. 4  illustrates an example of estimating pose information of a camera. Referring to  FIG. 4 , in operation  410 , the calculation apparatus selects pixels from the selected segment based on the reliabilities. In this example, the reliabilities are reliabilities that were fused in operation  250  of  FIG. 2 , that is, the first reliabilities and the second reliabilities. The calculation apparatus selects the pixels from the selected segment in proportion to the reliabilities. For example, the calculation apparatus selects pixels from a segment with a highest reliability. The calculation apparatus selects pixels equally from segments in a descending order based on the reliabilities. The calculation apparatus selects a relatively large number of pixels from segments with higher reliabilities, and selects a fewer number of pixels from segments with lower reliabilities. 
     In operation  420 , the calculation apparatus estimates pose information of the camera from the selected pixels. The calculation apparatus estimates the pose information of the camera from 3D points corresponding to pixels having depth values. The calculation apparatus estimates the pose information of the camera by applying a cost function E pj  to the selected segment as expressed by Equation 3 below. 
     
       
         
           
             
               
                 
                   
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     In Equation 3, I i  denotes a reference frame, and I j  denotes a target frame. p denotes a point, that is, a pixel in the reference frame I i , and is expressed as p∈Ω i . N P  denotes a set of pixels included in a sum of squared differences (SSD). t i  denotes an exposure time of the reference frame I i , and t j  denotes an exposure time of the target frame I j . ∥⋅∥ γ  denotes a Huber norm, which is a loss function. w     fused     (p)  denotes a weight based on fused reliabilities, and e −a     i   (I i −b i ) denotes an affine brightness transfer function. b i  denotes a brightness of the reference frame, and b j  denotes a brightness of the target frame. a i  denotes a parameter of a brightness transfer function with respect to the reference frame, and a j  denotes a parameter of a brightness transfer function with respect to the target frame. 
     p′ denotes a position of a projected point p with an inverse depth d p , and is obtained using Equation 4 below.
 
 p′=Π   c ( RΠ   c   −1 ( p,d   p )+ t )  (4)
 
     In Equation 4, 
               [         R       t           0       1         ]     :=       T   j     ⁢     T   i     -   1               
is satisfied, where T i ∈SE(3). T i ∈SE(3) indicates that camera poses are expressed using a transformation matrix.
 
     A full photometric error is expressed by Equation 5 below. 
     
       
         
           
             
               
                 
                   
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     In Equation 5, i runs over all frames  , p runs over all points   in a frame i, and j runs over all frames obS(p) in which p is visible. 
     Equations 3 through 5 are used to set a brightness between frames. Since the brightness between frames affects a depth value, a brightness difference is adjusted using the above equations to calculate a more accurate depth map. 
       FIG. 5  illustrates an example of an operation of an apparatus for calculating a depth map. Referring to  FIG. 5 , a calculation apparatus  500  includes a camera  510 , a divider  520 , a selector  530 , a tracker  540 , and a mapper  550 . The divider  520 , the selector  530 , the tracker  540 , and the mapper  550  may be implemented by a processor  620  of  FIG. 6 . 
     The camera  510  captures a series of input images. 
     The divider  520  divides an input image into segments. The divider  520  includes a depth divider  523  configured to divide the input image into depth segments based on depth values, and a semantic divider  526  configured to divide the input image into semantic segments corresponding to semantic units. 
     The selector  530  selects at least one segment to be used to track a camera pose and calculate a depth map from the segments based on the reliabilities of the segments. For example, the selector  530  selects at least one segment in proportion to the reliabilities of the segments. 
     The selector  530  includes a depth reliability evaluator  532 , a semantic reliability evaluator  534 , a reliability fuser  536 , and a pixel selector  538 . 
     The depth reliability evaluator  532  evaluates or calculates reliabilities of the depth segments. The semantic reliability evaluator  534  evaluates or calculates reliabilities of the semantic segments. 
     The reliability fuser  536  fuses the reliabilities of the depth segments and the reliabilities of the semantic segments, and determines the fused reliabilities to be the reliabilities of both the depth segments and the semantic segments. 
     The pixel selector  538  selects a segment based on the fused reliabilities, and selects pixels from the selected segment. 
     The tracker  540  calculates 6-DOF pose information of the camera  510  including a pose and an orientation of the camera  510 . The tracker  540  continuously tracks new input images, and calculates pose information of the camera  510  in a current frame based on pose information of the camera  510  in a previous frame. In this example, the tracker  540  estimates the pose information of the camera  510  from pixels of a segment selected in the previous frame by the pixel selector  538 . The tracker  540  estimates the pose information of the camera  510 , for example, rotation information and translation information of the camera  510 , by solving the cost function with respect to the selected segment. 
     The mapper  550  calculates a depth map by calculating a depth of a captured object. The mapper  550  calculates the depth map of the input image based on the pose information of the camera  510  estimated from the pixels of the selected segment. The mapper  550  calculates the depth map based on depth values calculated based on coordinates (u,v) of the position of the camera  510 , the rotation information R of the camera  510 , and the translation information T of the camera  510 . 
     The mapper  550  generates a new key frame or refines a current key frame based on the tracked frames. For example, in a case in which an input image does not include objects captured in a previous frame since the camera  510  used to capture the input image has moved a far distance, the calculation apparatus  500  generates a new key frame from last tracked frames. When the new key frame is generated, a depth map of the corresponding key frame is initialized by projecting a point from the previous key frame onto the new key frame. A frame not corresponding to the new key frame, among the tracked frames, is used to redefine the current key frame. 
     A depth map newly calculated by the mapper  550  is added to the newly generated key frame or the redefined key frame. 
       FIG. 6  illustrates an example of an apparatus for calculating a depth map. Referring to  FIG. 6 , an apparatus  600  for calculating a depth map, hereinafter, the “calculation apparatus”  600 , includes the camera  610 , the processor  620 , and a memory  630 . The calculation apparatus  600  may further include a communication interface  640  and/or a display  650 . The camera  610 , the processor  620 , the memory  630 , the communication interface  640 , and the display  650  communicate with each other through a communication bus  605 . 
     The calculation apparatus  600  may be any of electronic devices configured to implement various AR applications in real time, for example, an AR HUD, AR/VR glasses, an autonomous vehicle, an intelligent vehicle, a smart phone, and a mobile device. 
     The camera  610  acquires an input image. The camera  610  is, for example, a red, green, and blue (RGB) camera, or a red, green, and blue-depth (RGB-D) camera. The input image is an image input into the calculation apparatus  600 , and is, for example, a live image or a moving picture. The input image may be a monoscopic image or a stereoscopic image. The input image includes a plurality of frames. The input image is captured through the camera  610 , or is acquired from an external device outside the calculation apparatus  600 . 
     The processor  620  divides the input image into segments, calculates reliabilities of the segments, and selects at least one of the segments based on the reliabilities. The processor  620  estimates pose information of the camera  610  with respect to the input image based on the selected segment. The processor  620  calculates a depth map of the input image based on the pose information of the camera  610 . 
     The processor  620  divides the input image into semantic segments by classifying an object included in the input image as a semantic unit. The processor  620  divides the input image into depth segments based on a depth value of the input image. In another example, the processor  620  divides the input image into the semantic segments and the depth segments. 
     The processor  620  calculates first reliabilities of the semantic segments, or calculates second reliabilities of the depth segments. In another example, the processor  620  calculates the first reliabilities of the semantic segments and the second reliabilities of the depth segments. The processor  620  calculates the first reliabilities of the semantic segments based on, for example, whether an object included in the input image is a moving object. 
     The processor  620  fuses the first reliabilities and the second reliabilities, and determines the fused reliabilities to be the reliabilities of both the semantic segments and the depth segments. The processor  620  calculates the reliabilities of the segments for each key frame among the frames. 
     The processor  620  selects pixels from the selected segment based on the fused reliabilities, and estimates pose information of the camera  610  from the selected pixels. The processor  620  selects the pixels from the selected segment in proportion to the fused reliabilities. 
     The processor  620  estimates the pose information of the camera  610  by applying a cost function to the selected segment. 
     The processor  620  performs the method described with reference to  FIGS. 1 through 5 , or an algorithm corresponding to the method. The processor  620  executes a program, and controls the calculation apparatus  600 . A program executed by the processor  620  is stored in the memory  630 . 
     The memory  630  stores the input image and/or the plurality of frames. The memory  630  stores the pose information of the camera  610  estimated by the processor  620  with respect to the input image, the depth map of the input image calculated by the processor  620 , and/or a 3D image reconstructed by the processor  620  using the depth image. 
     The memory  630  stores a variety of information generated during processing performed by the processor  620 . Further, the memory  630  stores various data and programs. The memory  630  may be either one or both of a volatile memory and a non-volatile memory. The memory  630  includes a large-capacity storage medium such as a hard disk to store various data. 
     In one example, the calculation apparatus  600  receives an input image captured by an external device outside the calculation apparatus  600  through the communication interface  640 . In this example, the communication interface  640  receives, together with the input image, pose information such as rotation information and translation information, position information, and/or calibration information of the external device used to capture the input image. 
     The display  650  displays the 3D image reconstructed using the depth map calculated by the processor  620 . 
     The divider  520 , the depth divider  523 , the semantic divider  526 , the selector  530 , the depth reliability evaluator  532 , the semantic reliability evaluator  534 , the reliability fuser  536 , the pixel selector  538 , the tracker  540 , and the mapper  550  in  FIG. 5  in  FIG. 5  that perform the operations described in this application are implemented by hardware components configured to perform the operations described in this application that are performed by the hardware components. Examples of hardware components that may be used to perform the operations described in this application where appropriate include controllers, sensors, generators, drivers, memories, comparators, arithmetic logic units, adders, subtractors, multipliers, dividers, integrators, and any other electronic components configured to perform the operations described in this application. In other examples, one or more of the hardware components that perform the operations described in this application are implemented by computing hardware, for example, by one or more processors or computers. A processor or computer may be implemented by one or more processing elements, such as an array of logic gates, a controller and an arithmetic logic unit, a digital signal processor, a microcomputer, a programmable logic controller, a field-programmable gate array, a programmable logic array, a microprocessor, or any other device or combination of devices that is configured to respond to and execute instructions in a defined manner to achieve a desired result. In one example, a processor or computer includes, or is connected to, one or more memories storing instructions or software that are executed by the processor or computer. Hardware components implemented by a processor or computer may execute instructions or software, such as an operating system (OS) and one or more software applications that run on the OS, to perform the operations described in this application. The hardware components may also access, manipulate, process, create, and store data in response to execution of the instructions or software. For simplicity, the singular term “processor” or “computer” may be used in the description of the examples described in this application, but in other examples multiple processors or computers may be used, or a processor or computer may include multiple processing elements, or multiple types of processing elements, or both. For example, a single hardware component or two or more hardware components may be implemented by a single processor, or two or more processors, or a processor and a controller. One or more hardware components may be implemented by one or more processors, or a processor and a controller, and one or more other hardware components may be implemented by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, may implement a single hardware component, or two or more hardware components. A hardware component may have any one or more of different processing configurations, examples of which include a single processor, independent processors, parallel processors, single-instruction single-data (SISD) multiprocessing, single-instruction multiple-data (SIMD) multiprocessing, multiple-instruction single-data (MISD) multiprocessing, and multiple-instruction multiple-data (MIMD) multiprocessing. 
     The methods illustrated in  FIGS. 1-4  that perform the operations described in this application are performed by computing hardware, for example, by one or more processors or computers, implemented as described above executing instructions or software to perform the operations described in this application that are performed by the methods. For example, a single operation or two or more operations may be performed by a single processor, or two or more processors, or a processor and a controller. One or more operations may be performed by one or more processors, or a processor and a controller, and one or more other operations may be performed by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, may perform a single operation, or two or more operations. 
     Instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above may be written as computer programs, code segments, instructions or any combination thereof, for individually or collectively instructing or configuring the one or more processors or computers to operate as a machine or special-purpose computer to perform the operations that are performed by the hardware components and the methods as described above. In one example, the instructions or software include machine code that is directly executed by the one or more processors or computers, such as machine code produced by a compiler. In another example, the instructions or software includes higher-level code that is executed by the one or more processors or computer using an interpreter. The instructions or software may be written using any programming language based on the block diagrams and the flow charts illustrated in the drawings and the corresponding descriptions in the specification, which disclose algorithms for performing the operations that are performed by the hardware components and the methods as described above. 
     The instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above, and any associated data, data files, and data structures, may be recorded, stored, or fixed in or on one or more non-transitory computer-readable storage media. Examples of a non-transitory computer-readable storage medium include read-only memory (ROM), random-access memory (RAM), flash memory, CD-ROMs, CD-Rs, CD+Rs, CD-RWs, CD+RWs, DVD-ROMs, DVD-Rs, DVD+Rs, DVD-RWs, DVD+RWs, DVD-RAMs, BD-ROMs, BD-Rs, BD-R LTHs, BD-REs, magnetic tapes, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid-state disks, and any other device that is configured to store the instructions or software and any associated data, data files, and data structures in a non-transitory manner and provide the instructions or software and any associated data, data files, and data structures to one or more processors or computers so that the one or more processors or computers can execute the instructions. In one example, the instructions or software and any associated data, data files, and data structures are distributed over network-coupled computer systems so that the instructions and software and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by the one or more processors or computers. 
     While this disclosure includes specific examples, it will be apparent after an understanding of the disclosure of this application that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only, and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, and/or replaced or supplemented by other components or their equivalents. Therefore, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure.