Patent ID: 9384407
Filing Date: 2016-07-05
CPC Classification: G06K,G06T

Claim Text:
1. A method of identifying and tracking objects of interest, comprising the steps of: obtaining at least one pair of stereo image frames from more than one image capturing device and converting, by a processor, each said stereo image frame to a rectified image frame using calibration data obtained from the image capturing device; generating a disparity map for each pair of stereo image frames; converting the disparity map to a height map with local maxima; identifying with the processor the presence or absence of said objects of interest by searching for objects of interest associated with the local maxima or suboptimal locations; comparing with the processor each of said objects of interest to existing tracks comprising previously identified objects of interest; for each said presence of an object of interest, adding, by the processor, said object of interest to one of said existing tracks if said object of interest matches said one existing track, or creating a new track with the processor comprising said object of interest if said object of interest does not match any of said existing tracks; each existing track including location information indicative of a zone correlating to an area where the object of interest associated with the existing track was detected; each new track including location information indicative of a zone correlating to an area where the object of interest associated with the new track was detected; and using the location information to track the movement of objects of interest.