公开(公告)号：KR1020120065067A

公开(公告)日：2012-06-20

申请号：KR1020100126391

申请日：2010-12-10

Applicant: 국방과학연구소

Inventor： 김시종 ,  안광호 ,  성창훈 ,  강정원 ,  정명진 ,  김준

IPC: G06T15/00

CPC classification number: G06T17/00 ,  G06K9/6202 ,  G06T15/06 ,  H04N13/204

Abstract: PURPOSE: Three-dimensional environment modeling apparatus and method using the multi-sensor fusion are provided to enable users to accurately recognize the environment information. CONSTITUTION: A three-dimensional environment modeling apparatus comprises the following: a three-dimensional LRF(laser range finder) including a two-dimensional LRF(211), a rotation driving motor(212) rotating the two-dimensional LRF, and a controller(213) controlling the one-axis driving rotation; a computation terminal(230) including a virtual LRF disparity map generator(231), a multi-sensor fusion algorithm processor(232), and a stereo matching algorithm processor(233).

Abstract translation: 目的：提供使用多传感器融合的三维环境建模设备和方法，使用户能够准确识别环境信息。 构成：三维环境建模装置包括：包括二维LRF（211）的三维LRF（激光测距仪），旋转二维LRF的旋转驱动电机（212）和控制器 （213），控制单轴驱动旋转; 包括虚拟LRF视差图生成器（231），多传感器融合算法处理器（232）和立体匹配算法处理器（233）的计算终端（230）。