| 摘要 |
<p>According to the present invention, a method for extracting and generating feature points and feature descriptor from a RGB-D image comprises the steps of: generating a depth gradient based on a position for each pixel with a depth image function for each pixel of a three-dimensional image including depth information acquired by a camera; calculating adjacent three vertices based on a predetermined vertex of the depth image based on the generated depth gradient; producing a predetermined vector using the calculated three vertices and extracting a normalized surface normal vector by the cross product operation of the produced vector; performing rendering using corresponding depth image vector information composed of the extracted surface normal vector to convert a three-dimensional vector into a two-dimensional image; and applying a scale invariant feature transform (SIFT) algorithm to produce feature descriptor from the two-dimensional image. [Reference numerals] (110) Acquire an image by setting modes; (112) Three-dimensional image; (114) RGB image; (116) Generate a depth gradient based on a pixel position; (118) Convert into a grayscale image; (120) Calculate three adjacent vertexes based on a predetermined vertex of a depth image; (122) Produce a predetermined vector; (124) Extract a normalized surface normal vector; (126) Perform rendering; (128) Apply an SIFT algorithm; (130) Produce feature descriptor; (AA) Start; (BB) No; (CC) Yes; (DD) End</p> |
