RGB-D METHOD AND APPARATUS FOR RGB-D DENSE VISUAL ODOMETRY BASED ON BACKGROUND MODEL IN A DYNAMIC ENVIRONMENT

摘要

A method and apparatus for measuring an RGB-D visual travel distance based on a background model in a dynamic environment. A method for measuring a visual distance using an RGB-D sensor includes the steps of estimating a background model based on a current image including a color image and a depth image, Performing labeling based on the velocity of the target object to be filtered and determining the distance between the current image and the previous image that is temporally continuous based on the estimated background model and the labeled background model, And estimating the ego-motion of the vehicle.