Patent Document ID: 9304194
Application ID: 13353767
Patent Status: 1

Claim One:
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, 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.