| 摘要 |
The present invention relates to an apparatus moved to an indoor space to generate a map of the indoor space. A movable collecting apparatus for gathering indoor space information includes: a multi-camera unit including a front camera which photographs and collects an indoor image with respect to a front direction, a left camera and a right camera which photograph and collect indoor images with respect to left and right directions, and an upper camera which photographs and collects an indoor image with respect to an upward direction; a relative moving distance measuring unit to calculate a relative moving distance with respect to respective locations simultaneously photographed by the front camera, the left camera, the right camera, and the upper camera; a spatial information processor which analyzes indoor images of the front, left, right, and upper directions photographed by the multi-camera unit to extract front spatial information, left spatial information, right spatial information, and upper spatial information based on a current location including a distance between an indoor internal wall with respect to the front image, left and right images and a current location; a spatial information memory to store relative moving distance information with respect to each photographing location calculated from the relative moving distance measuring unit, and each spatial information extracted from the spatial information processor; a display unit to display the images photographed by the front camera, the left camera, the right camera, and the upper camera; and an indoor map generator to generate a map with respect to the indoor space from various information stored in the spatial information memory. Accordingly, information on the door space including buildings, shopping malls, or hospitals may be exactly and simply detected. |
