Abstract: The present invention relates to a method and an apparatus for estimating a user pose using a three-dimensional virtual space model. The method of estimating a user pose including the position and orientation information of a user for a three-dimensional space includes a step of receiving user information including an image acquired in a three-dimensional space, a step of confirming a three-dimensional virtual space model constructed based on spatial information including depth information and image information for the three-dimensional space, a step of generating corresponding information corresponding to the user information in the three-dimensional virtual space model, a step of calculating similarity between the corresponding information and the user information, and a step of estimating a user pose based on the similarity.

Abstract: The present invention relates to a method and an apparatus for estimating a user pose using a three-dimensional virtual space model. The method of estimating a user pose including the position and orientation information of a user for a three-dimensional space includes a step of receiving user information including an image acquired in a three-dimensional space, a step of confirming a three-dimensional virtual space model constructed based on spatial information including depth information and image information for the three-dimensional space, a step of generating corresponding information corresponding to the user information in the three-dimensional virtual space model, a step of calculating similarity between the corresponding information and the user information, and a step of estimating a user pose based on the similarity.

Abstract: The projection image compensating method according to an embodiment of the present disclosure includes acquiring mesh data, at least one representative image, at least one supplementary image, and position information which is information about an obtaining pose of each image for an indoor space; adding an index of each of the plurality of faces to a matrix corresponding to a size of the at least one representative image in accordance with a result of projecting the plurality of faces which configures the mesh data to the at least one representative image; detecting at least one occluded face among the plurality of faces, using an index added to the matrix; and extracting pixel information which is information of a pixel value corresponding to the at least one occluded face from the at least one supplementary image.

Abstract: According to an exemplary embodiment of the present disclosure, a three-dimensional map generating method of an indoor space, includes: obtaining at least one indoor space image which is an image for an indoor space; distinguishing a background area corresponding to a structure of the indoor space from a non-background area corresponding to objects located in the indoor space in the at least one indoor space image; generating at least one expanded indoor space image by expanding the background area to the non-background area in the at least one indoor space image; generating depth-image associated information based on at least one expanded indoor space image and geographic information including information of a depth value for the indoor space; and generating a three-dimensional map for the indoor space using the at least one expanded indoor space image, the geographic information, and the depth-image associated information.

Abstract: The 360-degree image producing method according to an embodiment of the present invention includes: an information receiving step of receiving 360-degree image producing information including a plurality of camera images, pose information, position information, depth information, a camera model, and a 360-degree model; a target selecting step of selecting a depth information point corresponding to a target pixel included in the 360-degree image among a plurality of points included in the depth information, using the position information, the 360-degree model and the depth information; an image pixel value acquiring step of acquiring a pixel value of a pixel of a camera image corresponding to the depth information point among the plurality of camera images; and a target pixel constructing step of constructing a pixel value of the target pixel.

Abstract: The projection image compensating method according to an embodiment of the present disclosure includes acquiring mesh data, at least one representative image, at least one supplementary image, and position information which is information about an obtaining pose of each image for an indoor space; adding an index of each of the plurality of faces to a matrix corresponding to a size of the at least one representative image in accordance with a result of projecting the plurality of faces which configures the mesh data to the at least one representative image; detecting at least one occluded face among the plurality of faces, using an index added to the matrix; and extracting pixel information which is information of a pixel value corresponding to the at least one occluded face from the at least one supplementary image.

Abstract: Disclosed is a projection image generating method for a 3D space. An exemplary embodiment of the present disclosure provides a projection image generating method, including: estimating a plurality of image obtaining poses and a plurality of depth obtaining poses including obtaining positions and obtaining angles of a plurality of obtained images and a plurality of obtained depth values obtained in an actual 3D space, respectively, with respect to a reference coordinate system; obtaining a user pose including a location and an angle of the user in a virtual 3D space corresponding to the actual 3D space with respect to the reference coordinate system; and generating a projection image obtained by projecting the plurality of obtained depth values into at least one of the plurality of obtained images, based on the corresponding image obtaining pose corresponding to the user pose and at least one corresponding depth obtaining pose.

Abstract: According to an exemplary embodiment of the present disclosure, a three-dimensional map generating method of an indoor space, includes: obtaining at least one indoor space image which is an image for an indoor space; distinguishing a background area corresponding to a structure of the indoor space from a non-background area corresponding to objects located in the indoor space in the at least one indoor space image; generating at least one expanded indoor space image by expanding the background area to the non-background area in the at least one indoor space image; generating depth-image associated information based on at least one expanded indoor space image and geographic information including information of a depth value for the indoor space; and generating a three-dimensional map for the indoor space using the at least one expanded indoor space image, the geographic information, and the depth-image associated information.

Abstract: A three-dimensional map generating and displaying apparatus according to an exemplary embodiment of the present invention includes an acquiring unit which acquires pose information including position and rotation information on photographing points at which three-dimensional information on a three-dimensional space is acquired with respect to a global coordinate system; a generating unit which generates a plurality of local coordinate systems for the three-dimensional space according to at least one of a spatial contiguity and a temporal contiguity of the photographing points, based on the acquired pose information; and a display unit which when an observer of a virtual reality is located in the three-dimensional space, finds the photographing point corresponding to a point at which the observer is located using the plurality of local coordinate system and generates and displays the three-dimensional map using the three-dimensional information acquired from the photographing point.

Abstract: A three-dimensional map generating and displaying apparatus according to an exemplary embodiment of the present invention includes an acquiring unit which acquires pose information including position and rotation information on photographing points at which three-dimensional information on a three-dimensional space is acquired with respect to a global coordinate system; a generating unit which generates a plurality of local coordinate systems for the three-dimensional space according to at least one of a spatial contiguity and a temporal contiguity of the photographing points, based on the acquired pose information; and a display unit which when an observer of a virtual reality is located in the three-dimensional space, finds the photographing point corresponding to a point at which the observer is located using the plurality of local coordinate system and generates and displays the three-dimensional map using the three-dimensional information acquired from the photographing point.

Abstract: Disclosed is a projection image generating method for a 3D space. An exemplary embodiment of the present disclosure provides a projection image generating method, including: estimating a plurality of image obtaining poses and a plurality of depth obtaining poses including obtaining positions and obtaining angles of a plurality of obtained images and a plurality of obtained depth values obtained in an actual 3D space, respectively, with respect to a reference coordinate system; obtaining a user pose including a location and an angle of the user in a virtual 3D space corresponding to the actual 3D space with respect to the reference coordinate system; and generating a projection image obtained by projecting the plurality of obtained depth values into at least one of the plurality of obtained images, based on the corresponding image obtaining pose corresponding to the user pose and at least one corresponding depth obtaining pose.

Abstract: The present invention provides a method for planning a path for an autonomous walking humanoid robot that takes an autonomous walking step using environment map information, the method comprising: an initialization step of initializing path input information of the autonomous walking humanoid robot using origin information, destination information, and the environment map information; an input information conversion step of forming a virtual robot including information on the virtual robot obtained by considering the radius and the radius of gyration of the autonomous walking humanoid robot based on the initialized path input information; a path generation step of generating a path of the virtual robot using the virtual robot information, the origin information S, the destination information G, and the environment map information; and an output information conversion step of converting the path of the autonomous walking humanoid robot based on the virtual robot path generated in the path generation step.

Abstract: A robot hand with a connection part that undergoes stretching deformation according to object shape. The robot hand includes a variable connection device that provides a contact face that enables pressing and contacting a moving target and has a connection part in contact with the moving target enables stretching deformation; a connection length controller that interfaces with a drive part to stretch and deform the connection part so that the connection part undergoes conversion between a closed-loop state wherein it is continuous with the surface of the moving target or divided into a plurality of sections to be pressed and contacted, and an open-loop state wherein it detaches from the moving target; and a shape retention device that retains the shape of the variable connection device consistently in a closed-loop state wherein the variable connection device is pressed and contacted with the moving target at a set pressure.

Abstract: The present invention relates to a robot hand with a connection part that undergoes stretching deformation according to object shape and a method for controlling a robot hand; the key technical point pertains to a robot hand with a connection part that undergoes stretching deformation according to object shape, comprising: a variable connection device (100) that provides a contact face that enables pressing and contacting a moving target (10) and has a structure wherein a connection part (100a) in contact with said moving target (10) enables stretching deformation; a connection length controller (200) that interfaces with a drive part such as a motor (201) or pump to stretch and deform the connection part (100a) of said variable connection device so that the connection part (100a) of said variable connection device undergoes conversion between a closed-loop state wherein it is continuous with the surface of said moving target (10) or divided into a plurality of sections to be pressed and contacted, and an ope

Abstract: A self movable boom system is provided. The self movable boom system include: a boom disposed on a plane perpendicular to a building clamp structure; and a moving unit apparatus including a circumferential moving unit which is disposed between the boom and the building clamp structure to move the boom on a plane perpendicular to the building clamp structure, a lifting-up unit of which one end is disposed toward the circumferential moving unit and of which other end is disposed toward the building clamp structure to move the boom along a longitudinal direction of the building clamp structure, and a boom moving unit which moves an object along the longitudinal direction of the building clamp structure and along a longitudinal direction of the boom.

Abstract: A self movable boom system is provided. The self movable boom system include: a boom disposed on a plane perpendicular to a building clamp structure; and a moving unit apparatus including a circumferential moving unit which is disposed between the boom and the building clamp structure to move the boom on a plane perpendicular to the building clamp structure, a lifting-up unit of which one end is disposed toward the circumferential moving unit and of which other end is disposed toward the building clamp structure to move the boom along a longitudinal direction of the building clamp structure, and a boom moving unit which moves an object along the longitudinal direction of the building clamp structure and along a longitudinal direction of the boom.