Method and apparatus with grid-based plane estimation

An apparatus for estimating a plane, the apparatus comprising:

• a processor configured to
• divide a target image into a plurality of grid cells,
• estimate an initial plane based on reference feature points comprising a reference feature point selected from each of the plurality of grid cells,
• classify feature points extracted from the target image as being an inlier located on the same plane as the initial plane or an outlier located on a plane different from the initial plane, select boundary grid cells from the plurality of grid cells based on a distribution of the inliers and the outliers from among the feature points, and
• estimate an expanded plane associated with the initial plane based on the selected boundary grid cells for use in identifying a planar surface presented in a scene corresponding to the target image.

A processor-implemented method of estimating a plane, the method comprising:

• estimating an initial plane based on reference feature points, comprising a reference feature point selected from each of a plurality of grid cells, wherein the grid cells are obtained by division of a target image;
• selecting boundary grid cells from the plurality of grid cells based on a distribution of inliers and the outliers classified from among feature points extracted from the target image, wherein inliers are located on the same plane as the initial plane and outliers are located on a plane different from the initial plane;
• and
• estimating an expanded plane associated with the initial plane based on the selected boundary grid cells for use in identifying boundaries of a planar surface presented in a scene corresponding to the target image.