Patent ID: 8406511
Filing Date: 2013-03-26
Classification: G06T

Abstract:
1. Apparatus for evaluating correlated images originating from a multi camera system, the correlated images at least partly covering the same 3-D observation area captured from respective different viewing positions, the correlated images comprising a main image and at least a first and a second satellite image, wherein the apparatus is operable to estimate combined positional data of a point in the 3D-space of the observation area corresponding to at least one pixel of interest of the main image, the apparatus comprising: first disparity means for estimating at least first disparity data concerning the at least one pixel of interest derived from the main image and the first satellite image, second disparity means for estimating at least second disparity data concerning the at least one pixel of interest derived from the main image and the second satellite image, positional data means for estimating the combined positional data of the point in the 3D-space of the observation area corresponding to the at least one pixel of interest in the main image, wherein the positional data means is operable to estimate first positional data on basis of the first disparity data and second positional data on basis of the second disparity data, wherein the positional data means is operable to assign a reliability value to each of the first and the second positional data, wherein the reliability values for the first and the second positional data are based on a spatial distribution of the positional data values in the 3D-space, and wherein the positional data means is operable to combine the first positional data and the second positional data to the combined positional data in accordance with the respective reliability values for the first and the second positional data.