CAMERA POSE ESTIMATION APPARATUS AND METHOD

摘要

Provided is a camera pose estimation apparatus. The apparatus estimates an initial camera pose using one of an input depth image and an input color image, and refines the initial camera pose using the other one. In the case that the initial camera pose is estimated using the input depth image, then the radius of a first area, in which color information is matched for the refinement, can be adaptively set according to the distribution of the depth value of at least one first point that is subject to matching.