3차원 공간의 인식을 위한 블록기반 3D맵

• Yi, Jong-Su (School of Electrical and Electronics Engineering, Chung-Ang University) ;
• Kim, Jun-Seong (School of Electrical and Electronics Engineering, Chung-Ang University)
• 이정수 (중앙대학교 전자전기 공학부) ;
• 김준성 (중앙대학교 전자전기 공학부)
• Accepted : 2012.06.21
• Published : 2012.07.25

Abstract

A 3D map provides useful information for intelligent services. Traditional 3D maps, however, consist of a raw image data and are not suitable for real-time applications. In this paper, we propose the Block-based 3D map, that represents three dimensional spaces in a collection of square blocks. The Block_based 3D map has two major variables: an object ratio and a block size. The object ratio is defined as the proportion of object pixels to space pixels in a block and determines the type of the block. The block size is defined as the number of pixels of the side of a block and determines the size of the block. Experiments show the advantage of the Block-based 3D map in reducing noise, and in saving the amount of processing data. With the block size of $40{\times}40$ and the object ratio of 30% to 50% we can get the most matched Block-based 3D map for the $320{\times}240$ depthmap. The Block-based 3D map provides useful information, that can produce a variety of new services with high added value in intelligent environments.

Acknowledgement

Supported by : 한국연구재단

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