Patent ID: 11869205
Assignee: nan
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. A processor-implemented method of generating a depth estimate comprising:
receiving digital values corresponding to a first image from a first camera, a second image from a second camera, and a third image from a third camera;
creating a first epipolar plane image from the digital values;
processing the first epipolar plane image, wherein processing comprises identifying a plurality of edges in the first epipolar plane image and fitting a line to the plurality of edges; and
deriving the depth estimate from the first epipolar plane image, dependent on a slope of the line;
wherein:
the first camera, the second camera, and the third camera are collinear on a first axis within a predetermined threshold, and
the first camera, the second camera and the third camera are not evenly spaced along the first axis; and

wherein the processor-implemented method further comprises, in association with a calibration process:
retrieving from processor-accessible memory information representing a known scene;
comparing information derived from the digital values to the information representing the known scene;
dependent on the comparison, associating each of at least two of the first camera, the second camera and the third camera with a respective position and orientation; and
storing each respective position and orientation in processor-accessible memory.