APPARATUS AND METHOD FOR ESTIMATING DEPTH USING 3D IMAGE-BASED FEATURE

摘要

PURPOSE: A distance estimating device using features based on 3D images and a method thereof are provided to estimate the distance and object recognition by extracting the features of an object. CONSTITUTION: A distance estimating unit estimates the information about a distance from a photographed spot to an object using 3D depth information estimated from an input image(S102,S104). A depth information processing unit allocates the 3D depth information of each scale space layer to the featured points of the scale space layer(S112). A scale space selecting unit searches for a scale space layer matched with the feature points extracted from a 2D object image(S116). The distance estimating unit estimates the distance of the object using the depth information of the searched scale space layer(S118). [Reference numerals] (AA) Input image; (BB) 2D object image; (CC) Object image including 3D depth information; (DD) 2D image; (S102) Estimate 3D depth information; (S104) Estimate the distance of an object from a photographing spot; (S106) Compose a scale space; (S108) Estimate depth information for each scale space layer using the depth information of a reference image; (S110) Extract the feature point of each scale space; (S112) Depth information corresponding to the feature point; (S114) Extract the feature point; (S116) Select a scale space layer matched to the feature point; (S118) Estimate an object distance using the depth information of the selected scale space layer