Patent ID: 8233664
Filing Date: 2012-07-31
Classification: G06K,G06T

Abstract:
1. A method for determining a relative depth of points captured by at least two cameras, the method implemented at least in part by a data processing system and comprising the steps of: receiving a first sequence of image frames acquired from a first camera; receiving a second sequence of image frames acquired from a second camera; identifying a plurality of points-of-interest, each point-of-interest being present in both the first sequence of image frames and the second sequence of image frames; clustering the points-of-interest into common depth planes at least by comparing motion across the sequences of image frames of different points-of-interest; storing results of the clustering in a processor-accessible memory system; identifying sets of trajectories, each set of trajectories associated with a single point-of-interest and comprising two trajectories, each of the two trajectories in each set indicating motion of a point-of-interest across only one of the sequences of image frames; identifying a mapping function for each set of trajectories, each mapping function associated with a single point-of-interest; and applying the mapping functions to sets of trajectories associated with different points-of-interest than the point-of-interest associated with the mapping function being applied, wherein the comparing of motion in the clustering step occurs at least based on results of the applying step.