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

Claim 19:
20. An apparatus comprising instructions stored on at least one physical storage medium, the instructions, when executed, to cause at least one processor to:
receive 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;
create a first epipolar plane image from the digital values;
process the first epipolar plane image, by identifying a plurality of edges in the first epipolar plane image and fitting a line to the plurality of edges; and
derive a 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 apparatus further comprises instructions on a physical storage medium that, when executed, are to cause the at least one processor to, in association with a calibration process:
retrieve from processor-accessible memory information representing a known scene,
compare information derived from the digital values to the information representing the known scene,
dependent on the comparison, associate each of at least two of the first camera, the second camera and the third camera with a respective position and orientation, and
store each respective position and orientation in processor-accessible memory.