/ / FREE SPACE MAP CONSTRUCTION METHOD FREE SPACE MAP CONSTRUCTION SYSTEM FOREGROUND/BACKGROUND EXTRACTION METHOD USING THE FREE SPACE MAP AND FOREGROUND/BACKGROUND EXTRACTION SYSTEM USING THE FREE SPACE MAP

摘要

The present invention relates to a free space map generation system and a background / foreground extraction system. The free space map generation system includes a sensing unit for sensing three-dimensional environment information in a three-dimensional space, generating a unit data frame using the sensed information, and providing the unit data frame; A positioning unit for measuring a 6-degree of freedom position of the sensor when detecting distance information for the unit data frame; A detection unit for detecting and providing free space regions from the unit data frames provided by the sensing unit; And a fusion unit for generating respective maps by fusing the unit data frames and the free space regions with respect to each unit data frame using 6-axis orientation information of each unit data frame provided from the positioning unit.The background / foreground extraction system extracts and removes the foreground from the data frame using a free space map, and extracts and provides the background.;