CPC H04N 13/351 (2018.05) [B25J 9/1697 (2013.01); G06T 17/00 (2013.01); H04N 13/139 (2018.05)] | 7 Claims |
1. An apparatus for providing a wrap-around view based on three-dimensional (3D) distance information, the apparatus configured to be installed in a moving object, the apparatus comprising:
a camera module configured to acquire image information in all directions around the moving object;
a sensor module configured to measure 3D spatial information in all directions around the moving object;
a controller configured to generate 3D distance information by projecting the measured 3D spatial information onto a two-dimensional (2D) image, to generate a 3D model in a 3D space by using the generated 3D distance information, to generate a wrap-around view by mapping the acquired image information to the generated 3D model,
the controller further configured to extract a normal vector from each of 3D points of the 3D spatial information, to extract a wall surface from the 3D spatial information by using the extracted normal vector, to remove Z-axis information from the 3D spatial information based on the extracted wall surface, and to project the 3D spatial information from which the Z-axis information is removed onto the 2D image in order to generate the 3D distance information; and
a communication circuit in wireless data communication with a user terminal, the communication circuit configured to transmit the generated wrap-around view to the user terminal such that the transmitted wrap-around view is displayed on the user terminal,
wherein the sensor module includes:
a 3D Lidar sensor configured to measure first spatial information including 3D spatial coordinates and intensity of reflected signals; and
a navigation sensor configured to measure second spatial information including roll and pitch,
wherein in response to the 3D Lidar sensor being tilted, the controller is configured to perform a posture correction of the 3D Lidar sensor by aligning a Z-axis of the first spatial information measured in a state that the 3D Lidar sensor is not parallel with a floor by using at least one of the roll or the pitch included in the second spatial information,
wherein the controller is further configured to assign upper and lower effective ranges based on the Z-axis in a state where entire 3D spatial information has been corrected through a Z-axis pass through algorithm, and then remove unnecessary spatial information corresponding to a floor surface and a ceiling surface.
|