Patent ID: 8059887
Filing Date: 2011-11-15
Classification: G06K,G06T

Abstract:
1. A method for detecting range of at least one object of a scene comprising the steps of: receiving a set of images of the scene having multiple objects from one or more cameras in motion, said images obtained at different locations of the cameras; selecting images having at least one said object; computing data related to estimation of a position and orientation of the one or more cameras and position and orientation of the selected images; determining a projected location of the object based on said computed data; adjusting the estimated orientation of said one or more cameras for each said selected images based on said projected location of the object; and computing dense stereo for objects in a foreground of a current image and for objects in a distant background of the current image based on the adjusted estimated orientation of said cameras, wherein said computing comprises comparing the current image with the selected image.