METHOD AND APPARATUS FOR CALIBRATION BETWEEN LEAP MOTION AND HMD USING BUNDLE ADJUSTMENT ALGORITHM

摘要

The present invention relates to a method and an apparatus for calibration between a leap motion and an HMD. According to the present invention, the method comprises the steps of: converting n two-dimensional images at various point of views obtained by photographing an HMD equipped with a leap motion by using an infrared camera into n sparse matrices; obtaining n projection matrices by using the n sparse matrices and one three-dimensional point group obtained by approximating the n sparse matrices to a three-dimensional space; projecting the three-dimensional point group onto the n two-dimensional images so as to obtain n two-dimensional point groups; for each of the n two-dimensional images, identifying two-dimensional points within a spherical cluster among points belonging to the two-dimensional point groups after detecting a plurality of spherical clusters; obtaining a three-dimensional center point of each spherical cluster on the basis of three-dimensional points corresponding to the two-dimensional points in the spherical cluster from among points belonging to the three-dimensional point group; and estimating and calibrating the origins of the leap motion and the HMD on the basis of the three-dimensional center point and the cluster size of each spherical cluster.