METHOD AND APPARATUS FOR GENERATING 3D FEATURE POINT MAP, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM FOR CONTROLLING THE HOLDER DEVICE

摘要

The method of generating a 3D feature point map according to an embodiment includes the steps of collecting road view information, GPS information on the user's moving route, and a plurality of image information on the user's moving route, and 3D specific point by matching feature points between the plurality of images. It may include estimating a pose corresponding to a key frame among the positions and movement trajectories of the people, and restoring the estimated pose to an absolute pose using absolute pose information of feature points in the key frame of the road view. . In the embodiment, by using the absolute pose of the road view, there is an effect of providing a more accurate user's position.