US 12,249,142 B2
Method and an electronic apparatus for acquiring a floor map of a room layout
Juan Liu, Nanjing (CN); Huasin Wang, Nanjing (CN); Sukun Yoon, Suwon-si (KR); Longhai Wu, Nanjing (CN); and Jie Chen, Nanjing (CN)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on May 19, 2022, as Appl. No. 17/748,378.
Application 17/748,378 is a continuation of application No. PCT/KR2022/005776, filed on Apr. 22, 2022.
Claims priority of application No. 202110573320.6 (CN), filed on May 25, 2021.
Prior Publication US 2022/0383635 A1, Dec. 1, 2022
Int. Cl. G06V 20/00 (2022.01); G06T 7/50 (2017.01); G06V 20/64 (2022.01)
CPC G06V 20/36 (2022.01) [G06T 7/50 (2017.01); G06V 20/64 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A method for acquiring a floor map of a room layout, the method comprising:
acquiring a depth map and a two-dimensional (2D) image of an interior of a room;
identifying a boundary line between a ceiling and a wall of the room in the acquired 2D image;
determining valid pixels among pixels on the boundary line according to a first preset rule, wherein the valid pixels indicate a pixel that corresponds to an actual point in the identified line at the junction of the ceiling and the wall;
identifying an electronic device in the room and determining a location of the electronic device based on SLAM positioning technology;
determining three-dimensional (3D) coordinates of the actual points at the junction of the ceiling and the wall of the room corresponding to the valid pixels and 3D coordinates of the determined location of the electronic device based on the depth map and the 2D image;
converting the 3D coordinates of the actual points corresponding to the valid pixels and the 3D coordinates of the determined location of the electronic device coordinate into coordinates in a global coordinate system; and
acquiring the floor map of the room layout by projecting the 3D coordinates of the actual points corresponding to the valid pixels on the boundary line converted into the global coordinate system and the 3D coordinates of the determined location of the electronic device converted into the global coordinate system onto a horizontal plane,
wherein the floor map of the room layout comprises connection lines between projections of the 3D coordinates of the actual points corresponding to the valid pixels and an icon indicating a type and the location of the electronic device.