Apparatus and method for generating point cloud data

An apparatus for generating point cloud data, comprising at least one hardware processor configured to implement:

• a feature point extractor configured to extract a plurality of feature points from a plurality of images obtained by capturing a three-dimensional region;
• a point cloud data generator configured to generate point cloud data related to the three-dimensional region on the basis of the plurality of extracted feature points;
• an overlay image display configured to display the generated point cloud data by overlaying the point cloud data on a currently captured image of the three-dimensional region;
• and
• a three-dimensional position determiner configured to determine a three-dimensional position for a position selected by a user in the image on which the point cloud data is overlaid,
• wherein the overlay image display is configured to overlay and display visualized information of the determined three-dimensional position together with the point cloud data on the currently captured image;
• and
• the three-dimensional position determiner is further configured to generate a three-dimensional ray connecting the selected position and a focal point of a camera lens capturing the three-dimensional region and determine a point with a shortest distance to the three-dimensional ray among a plurality of points included in the point cloud data as the three-dimensional position.