Projected image generation method and apparatus, and mapping method between image pixel and depth value

摘要

A projection image generation method for a three-dimensional space is disclosed. A projection image generation method according to an embodiment of the present invention includes a plurality of acquired images and a plurality of acquired depth values acquired with respect to an actual three-dimensional space. Estimating an image acquisition pose and a plurality of depth acquisition poses with reference to a reference coordinate system; reference coordinates of a user pose including a position and an angle of the user in a virtual three-dimensional space corresponding to the actual three-dimensional space; Acquiring on the basis of a system; and, based on a corresponding image acquisition pose corresponding to the user pose and at least one corresponding depth acquisition pose, the plurality of acquisition depth values in at least one of the plurality of acquisition images Generating a projected image. [Selection] Figure 1