METHOD FOR DETECTING AND REMOVING FLOOR AREA USING DEPTH INFORMATION AND APPARUTUS FOR DETECTING AND REMOVING FLOOR AREA USING DEPTH INFORMATION AND PROGRAM RECORDING MEDIUM FOR DETECTING AND REMOVING FLOOR AREA USING DEPTH INFORMATION

摘要

A method for processing a floor area using depth information, a processing apparatus therefor, and a computer readable recording medium with a program for detecting only the actual floor area by preventing erroneous detection of a vertical plane or a horizontal plane by improving the RANSAC algorithm for detecting the floor area from a depth image frame or for outputting a depth image frame which is identical to the inputted depth image frame, if there is no access to the floor area. The method for processing the floor area using the depth information according to the present invention includes a candidate point interval designating step, a first candidate point-set designating step, a candidate point-set transverse interval designating step, a candidate point-set vertical interval designating step, and a candidate point-set generation-arrangement step.