Feature point-based real-time camera pose estimation method and apparatus therefor

摘要

A method for estimating a camera pose in real time based on a feature point of an image, and an apparatus thereof are disclosed. According to an embodiment of the present invention, the method for estimating a camera pose in real time comprises the steps of: when images including an object are photographed by a camera in real time, performing primary matching between previously stored key points for the object and key points for the object in any one image among images photographed in background processing; performing secondary matching the key points of the object based on a primary matching result received from the background processing and images photographed in foreground processing; and estimating a pose of the camera in real time by using a secondary matching result in the foreground processing. The foreground processing and the background processing are performed in parallel.