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

Claim 0:
1. 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,
identifying the plurality of edges further comprises creating an epipolar plane edge image from the first epipolar plane image and selecting the plurality of edges from the epipolar plane edge image, and
fitting the line to the plurality of edges comprises mapping the plurality of edges to one of the first image, the second image, and the third image, generating a plurality of rays based on the mapping and selecting a point through which the line passes such that the point minimizes a function of the distance of the point to each of the plurality of rays, and
deriving the depth estimate comprises using the point to calculate the depth estimate.