Apparatus and method for measuring ego motion of autonomous vehicles and 3D shape of object in front of autonomous vehicles

The present invention relates to a moving object and a method having a function of measuring the three-dimensional information about an object located in front of the moving object of the efficient movement and the movement of the mobile member (autonomous vehicle), such as a moving robot (mobile robot), the mobile is It will be used to measure the rotational information of the moving object through an accelerometer and a magnetic flux sensor and extracting the epipolar geometry information of the measured rotation information. As a result, by reducing epipolar geometry if the number of corresponding points between the images that require the extraction of information into two, and easily than the three-dimensional information of the object located on the movement information of the moving object itself, and the direction of movement of the moving object accurately It can be obtained.