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

Claim 10:
11. 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 instructions, when executed, are further to cause the at least one processor to:
identify the plurality of edges by creating an epipolar plane edge image from the first epipolar plane image and selecting a plurality of edges from the epipolar plane edge image;
fit the line by 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 derive the depth estimate by using the point to calculate the depth estimate.