| 摘要 |
According to the present invention, provided are image matching apparatus and method for acquiring a three-dimensional color image, which enable a coordinate system representative of a three-dimensional depth image to match a coordinate system of a preset virtual color image, thereby solving an error in image matching quality attributable to a perspective effect. The image matching apparatus for acquiring a three-dimensional color image according to the present invention comprises: a first setting unit which has a pattern portion configured such that a pattern diagram having a plurality of feature points is formed, and sets a virtual coordinate system of a 2D color image by moving the pattern portion along an optical axis of the 2D color image; a second setting unit which generates a plane in a 3D space by using 3D coordinates of the feature points, and sets an optical axis of a 3D depth image for the plane in the 3D space; a third setting unit which generates an axis of rotation perpendicular to the optical axis of the 2D color image and the optical axis of the 3D depth image, and sets a depth image coordinate system in which a point of intersection of the optical axis of the 3D depth image and the axis of rotation is set as an origin; a measurement unit which measures a rotation angle between the optical axis of the 2D color image and the optical axis of the 3D depth image; and a matching unit which performs rotational transformation of the depth image coordinate system based on the axis of rotation and the rotation angle so that the optical axis of the 2D color image and the optical axis of the 3D depth image coincide with each other or are parallel to each other. |
